Three-Dimensional Tracking with Misalignment Between Display and Control Axes

Abstract

Two experiments were conducted examining . three-dimensional pursuit tracking when operators of teleoperation simulations are faced with misalignment between the display and control frames of reference.Targets on the experimental displays moved irregularly in three dimensions and were tracked by subjects using either two 2-axis joysticks and a panelmounted perspective display or, in a separate experiment, a hand-mounted, 6 degree-of-freedom electromagnetic sensor and a head-mounted, virtual image, stereoscopic display..Analysis of the components of the tracking er-

Human Control in Rotated Frames: Anisotropies in the Misalignment Disturbance Function of Pitch, Roll, and Yaw

“…More recently the spatial motion of a cursor or a physically controlled element with respect to input control device orientation has been examined. (Worringhan & Beringer 1989;Cunningham & Vardi, 1990;Ellis, Tyler, Kim & Stark, 1992;Macedo, Kaber, Endsley, Powanusorn, & Myung, 1998;Ellis & Adelstein, 2009;Abeele & Bock, 2001;Wickens, Keller & Small, 2010;Chintamani, Cao, Ellis, & Pandya, 2010). This situation is frequently encountered in teleoperation when the coordinate systems for motor control and visual feedback are misaligned, e.g., Smith & Smith, 1962;Smith, Henning & Li, 1998.…”

Kinesthetic Compensation for Sensorimotor Rearrangements

“…If the rotation angle is so large that the targeting error does not result in each incremental movement being closer to the target, the entire process will not converge and the target will never be reached. This situation would require a different targeting strategy to be used and could account for inferences that different mechanism could be needed for small versus large rotations (Abeele & Bock, 2001;Ellis et al, 1992). But the adoption of an alternative targeting technique, especially if it were perceived to be more difficult, would likely be resisted as participants might be expected to favor the easiest possible strategy.…”

“…Under such conditions, users' bodyreferenced control movements produce motion on visual displays of the remote site that appears to be rotated with respect to the expected body-referenced direction. Of course, operators may learn to adapt to such misalignment (Krakhauer, Pine, Ghilardi, & Ghez, 2000), but these adaptations can be quite difficult if the rotations are greater than 90 • (Abeele & Bock, 2001;Ellis, Tyler, Kim, & Stark, 1992;Hinkley, Pausch, Proffitt, Patten, & Klassell, 1997).…”

Misalignment Effect Function Measurement for Oblique Rotation Axes

“…For comparison, results from a related 2D placement task published previously are overlaid (Ellis & Adelstein, 2009). Also overlaid are results from a 3D tracking task done on a perspective display with display-control coordinate misalignments (Ellis, Tyler, Kim & Stark, 1992). These datasets show MEF similarity for the three response measures 3…”