The effect of bandwidth on telerobot system performance

Performance evaluation of haptic hand‐controllers in a robot‐assisted surgical system

“…The performance of the entire master–slave set‐up was assessed both quantitatively and qualitatively. For quantitative evaluation, 10 performance measures were used: Operator effort : distance travelled by the operator, applied force over distance and number of clutches/trial . Operator speed : task completion time . Operator accuracy : modified Fitts' measure and index of errors . Operator learning curve : normalized time in completing the tasks . Hand‐controller force creation : sum of squared forces , force/sample and number of excessive forces . …”

“…This index reflects the performance as a percentage of performance in conducting the task manually. The task completion time and the number of unsuccessful attempts were also considered to be two popular measures in evaluating the performance of a tele-operated system (11)(12)(13)(14)(15)(16). Yip et al (17) used completion time for individual sub-tasks (extraction, alignment and insertion) to investigate which section was less time consuming and had the capability of improvement in terms of time.…”

“…• Operator effort: distance travelled by the operator, applied force over distance and number of clutches/trial (4,21). • Operator speed: task completion time (10)(11)(12)(13)(14)(15)(16)(17).…”

“…• Operator accuracy: modified Fitts' measure (9) and index of errors (11)(12)(13)(14)(15)(16)18). • Operator learning curve: normalized time in completing the tasks (4).…”

Visual and haptic collaborative tele-presence

“…The master manipulator with which the operator interacts should have near frictionless characteristics and should feel weightless. The system should have a bandwidth of at least 10 Hz [24,25], so that it does not result in unnecessary stress to the operator. Thus, the manipulator should have intrinsically low inertia.…”