Dynamic scaling interface for assisted teleoperation

Abstract

Teleoperation, by adequately adapting computer interfaces, can benefit from the knowledge on human factors and psychomotor models in order to improve the effectiveness and efficiency in the execution of a task. While scaling is one of the performances frequently used in teleoperation tasks that require high precision, such as surgery, this article presents a scaling method that considers the system dynamics as well. The proposed dynamic scaling factor depends on the apparent position and velocity of the robot and targets. Such scaling improves the performance of teleoperation interfaces, thereby reducing user's workload.

Kinematics and interactive simulation system modeling for robot manipulators

“…These information are stored in three arrays in terms of faceindicies[ ] [9], vertices[ ] [3] and normals[ ] [3], respectively. The model will be displayed by drawing the It is worthwhile to note that the data of the triangle patches will increase with the complexity of the model, especially when the model is made up of several different parts.…”

“…Nowadays it has been applied in many subjects in science and technology field. In the field of mechanical engineering, it has found important applications in virtual simulation [2], robot control [3], tele-rehabilitation system [4] and interactive virtual assembly path planning [5] and so on.…”

“…The function that used for drawing the triangle patches is GLint Gen3DObjectList(). The steps of displaying Solidworks models in Visual C++ platform are as follows 1) Saving the model created by Solidworks as STL format file 2) Converting the STL format file into *.CPP file in Deep Exploration 3) Getting faceindicies[ ][9], vertices[ ][3] and normals[ ][3] arrays from the *.CPP file 4) Getting GLint Gen3DObjectList() sub-function from the *.CPP file 5) Calling the triangle patch information by using the subfunction.…”

Improving Ergonomics in Teleoperation

“…The same occurs with a change in the amplitude of the movement executed by the human operator with respect to that performed by the system. Therefore, scaling the movement between master and slave has a significant effect on the efficiency and effectiveness executing a task.Recent research [2,3] is oriented to the design and development of methods conceived to improve effectiveness thanks to a larger visual and motor efficiency of the human-machine interface. These methods are based on the modification of the information flow between human, machine and interface by means of the scaling of both, the human movements and the image of the visualized task.…”

“…Recent research [2,3] is oriented to the design and development of methods conceived to improve effectiveness thanks to a larger visual and motor efficiency of the human-machine interface. These methods are based on the modification of the information flow between human, machine and interface by means of the scaling of both, the human movements and the image of the visualized task.…”