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Carnegie Mellon Robotics Institute

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Abstract

We report an experimental high- delity system for making psychophysical measurements on human operators performing real, virtual, and real-remote 3-D haptic manipulation tasks. Operators interact with task environments through six-degree-of-freedom (6-DOF) Lorentz magnetic levitation haptic devices. This arrangement allows the operator to exert and experience real, virtual, and real-remote forces/torques using the same 6-DOF master device. In the virtual task scenario, interactions are rendered haptically. In the real task scenario, the manipulandum of the haptic device interacts by direct mechanics with a real environment. In the remote-real scenario, interactions with a remote real task environment are mediated through a 6-DOF Lorentz magnetic levitation slave device carried by a 6-DOF robot arm. In all three scenarios, visual feedback is provided by a graphical display. The system records accurate positions/orientations and forces/torques as a function of time. These records can be parsed automatically and analyzed online to evaluate operator performance.

Notes

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory

Associated Project(s): Teleoperation with a 12-DOF Coarse-Fine Manipulator

Number of pages: 6

Text Reference

Bertram Unger, Roberta Klatzky, and Ralph Hollis, "A Telemanipulation System for Psychophysical Investigation of Haptic Interaction," Proc. Int'l Conf. on Robotics and Automation (ICRA '03), September, 2003, pp. 1253 - 1259.

BibTeX Reference

@inproceedings{Unger_2003_5120,
   author = "Bertram Unger and Roberta Klatzky and Ralph Hollis",
   title = "A Telemanipulation System for Psychophysical Investigation of Haptic Interaction",
   booktitle = "Proc. Int'l Conf. on Robotics and Automation (ICRA '03)",
   pages = "1253 - 1259",
   month = "September",
   year = "2003",
}

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