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

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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.

Associated lab/group: Microdynamic Systems Laboratory
Associated project: Teleoperation with a 12-DOF Coarse-Fine Manipulator

Number of pages: 6

B. Unger, R. Klatzky, and R. 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.

@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)",
   month = "September",
   year = "2003",
   pages = "1253 - 1259"
}