A Telemanipulation System for Psychophysical Investigation of Haptic Interaction
Abstract
We report an experimental high-fidelity 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.
BibTeX
@conference{Unger-2003-8755,author = {Bertram Unger and Roberta Klatzky and Ralph Hollis},
title = {A Telemanipulation System for Psychophysical Investigation of Haptic Interaction},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2003},
month = {September},
volume = {1},
pages = {1253 - 1259},
}