Human Factors in Automated and Robotic Space Systems Proceedings of a Symposium (1987) / Chapter Skim
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Teleoperation, Telepresence, and Telorobotics: Research Needs for Space
Teleoperation, Telepresence, and Telorobotics: Research Needs for Space
Pages 279-291
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From page 279... ...
Telepresence is the ideal of sensing sufficient information about the teleoperator and task, and communicating this to the human cFerator in a sufficiently natural way that she feels herself to be physically present at the remote site. A more restrictive definition requires, in addition, that the teleoperator's dexterity match that of the bare-handed human cooperator.
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From page 280... ...
Among these were: force reflection simultaneously in all six degrees of freedom; hands with multi-jo~nt^~ fingers; coordinated two-arm telecperators; and head-mounted displays which drove the remote camera position and thereby produced remarkable visual telepresence. By 1965 experiments in academic research laboratories had already revealed the problems of teleman~pu~ation and vehicle control through time delay (Ferrell, 1965)
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From page 281... ...
By 1970, however, industrial robotics was coming into full swing, for Unimation, GE and a handful of other American, Japanese and Scandinavian manufacturers had begun using relatively simple assembly-line robots, mostly for spot welding and pa mt spraying. By 1980 industrial robots had become graced by wrist force sensing and primitive computer vision, and puch-button "teach pendant" control boxes were being used for relatively simple programming from the shop floor.
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From page 282... ...
Display of fP=~hack to the operator can be straightforward in principal; in force-reflecting mast~r-slave systems the measured force signals drive actors on the master arm which push back on the hand of the operator with the same forces and torques with which the slave pushes on the environment. This might work perfectly In an ideal world where such slave-back-tc-~aster force serving is perfect, and the master and slave arms impose no mass, compliance, viscosity or static friction characteristics of the Or own.
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From page 283... ...
This is particularly agg~-ava1:ed by his having to ~ erve the remote manipulation through video without peripheral vision or very good depth perception, or by not having master-slave position correspondence, i.e., when a joystick is used. Potential remedies are: m ~ tiple view ; wide field of view from a vantage point which includes the arm base; and computer-generate]
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From page 284... ...
This is largely an unsolved theoretic problem, at le=t In part because the number of configurations which satisfy given end-point position/orientation constraints Is infinite. One tries to select five amoral scheme solutions to minimize energy or time or to avoid ~ Stain a ~ olute positions of the joints, or to prevent singularities, etc., but the mathematics is formid~hie.
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From page 285... ...
Men the Ins of freedom of a task are closely coupled arbor ~st be coordinated to achieve the task Objectives, ~t can be relatively refly provided proper control Beans are pr~rided -- but up to how many DOF? It is surprising how little research is available in this area.
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From page 286... ...
Off-~ne, real-time, human~rable ("flyable") simulation of ieleoperation for research, er~n~'ingortrainir~has barely Pronto be viable e This Is because of the c~nplexity of simulating and displaying the vehicle plus the arm and hard plus the manipulated object plus the er~viromnent, having all degrees of freedman cooperate, with removal of hidden lines, arm so on.
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From page 287... ...
Some research has shown that human operators are unable to assimilate state information that is too complex, and tend to simplify it for themselves by estimating averages and throwing away the full distribution, or at least by using some simple index of dispersicn, or in the case of joint distributions over two or more variables; by coring only the marginal distributions, or even s~nplifyir~ to point estimates an the ir~ent variables (P~130~h, 1986~. Remark i~ net on how to pride the ~tor all that can be got fmn state esthetic ark how ~ display this in a anirqfu1 way.
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From page 288... ...
Voice control and f-P~h~k for all the tamps it has keen sucaesbed as an interesting telemanipulation research topic in recent years, has seen very little systematic research. Voice command probably has the most promise for giving "symbolic" commands to the computer (m contrast to the normal "analogic" or geometric isomorphic commands which the master-slave or joystick provides)
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From page 289... ...
CON~rlSIONS A Ember of research topics have been propose, all seen as critical for the devel~nt of needed tele~rator/~1er~botic capability for future space station arxi relate missions. These have been presented ~ e areas of: (1)
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From page 290... ...
R 1965 1966 ~dy Space Remote manipulation with trans=Jssion delay.
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From page 291... ...
B 1986 Aiding human Operators with state Estonia.
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