Television Systems for Remote Manipulation

Abstract

An analytical and experimental study was conducted to specify a video system for remote manipulation in space. An operator function analysis identified two basic characteristics, work volume and element relationship, which define four manipulation tasks chosen for examination. A visual function analysis developed a set of elemental scene parameters which grouped the visual dimensions into major areas of influence. Simulation testing was conducted with a four degree-of-freedom motion frame which allowed an operator to perform the manipulation tasks. Four video systems were included in the simulation testing: a black and white and a color mono-scopic system, a stereoscopic system, and a black and white two-view system. A sequential experimental plan first provided an overall analysis of the effects of tasks, scene parameters, and video systems. This was followed by a detailed experimental examination of the critical dimensions identified in the first experiment. Results are discussed in terms of a recommended TV system.

Human-Telerobot Interactions: Information, Control, and Mental Models

“…The fundamental data increase the researchers' understanding of the mental processes involved in the interactions with the system to the point that the model can be specified more precisely. Research on the human-telerobot interface has focused on the informational needs of the user (e.g., Draper, Fujita, and Herndon, 1987 ;Crooks, Freedman, and Coan, 1975). Because little attention has been given to the user's mental model, the mental models of human-telerobot interactions are in their heuristic apprenticeship.…”

The Effects of Spatially Displaced Visual Feedback on Remote Manipulator Performance

“…According to Smith and Smith (1987) their work was incorporated into the neurogeometric organization of behavior in which "space perception and visually controlled movement are learned, the nature and degree of learning are determined by the nature and degree of spatial compliance between muscular control and sensory input." There have been numerous studies of viewing systems for telerobotic systems; however, it is difficult to draw coherent and generalized conclusions from them (Crooks, Freedman, and Coan, 1975;Horst, Rau, LeCocq, and Silverman, 1983;Chu and Crooks, 1980;Clarke, Hamel, and Draper, 1983;Bodey and Cepolina, 1973;Huggins, Malone, and Shields, 1973;Onega and Clingman, 1973;Fornoff and Thornton, 1973;Clarke, Handel, and Garin, 1982).…”