HAND MOVEMENT STRATEGIES IN TELECONTROLLED MOTION ALONG 2-D TRAJECTORIES - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue IEEE transactions on systems, man, and cybernetics Année : 1992

HAND MOVEMENT STRATEGIES IN TELECONTROLLED MOTION ALONG 2-D TRAJECTORIES

G Magenes
  • Fonction : Auteur
Gm Gauthier
  • Fonction : Auteur

Résumé

The paper evaluates the performance and tries to identify the strategies of human operators (HO's) teleoperating a robot along 2-D-trajectories in simulations of place-like tasks in an obstacle encumbered environment. The experiments utilize computer graphic simulations of a remote robot whose end-effector displacements are dynamically controlled in the X - Y plane by the HO's hand displacements. Four different modes are selected to provide suggested trajectories to the HO's that begin at the initial point of the robot's end-effector and end in the landing zone. For each mode, two different visual frames of reference are used to present the remote scene viewed by the HO: a stationary view of the environment, or a view from the end-effector of the robot, which produces the sensation of a mobile environment. The performance is described in the various displayed conditions in terms of movement duration, spatial and temporal errors, and energy. The data show that performance depends on the nature of the cues and instructions provided to the operators. Comparative analysis of the various conditions suggests that visual feedback position control is used when continuous static or dynamic information about the trajectory is provided, while feedforward control, corrected by sampled visual information, is adopted when a self-generated movement can be planned and executed. The data also show that for a given set of execution cues, an equivalent performance is achieved in both visual frames of reference. A fifth mode of trajectory presentation, suggested by the results of the former analysis, has been tested. This mode, which presents a few specific spatial cues (gates) on the screen during the execution of the movement, combines the features for trajectory planning and sampled visual feedback position control. This last mode yields higher performance.

Domaines

Neurosciences
Fichier non déposé

Dates et versions

hal-01436353 , version 1 (16-01-2017)

Identifiants

Citer

G Magenes, Jean-Louis Vercher, Gm Gauthier. HAND MOVEMENT STRATEGIES IN TELECONTROLLED MOTION ALONG 2-D TRAJECTORIES. IEEE transactions on systems, man, and cybernetics, 1992, 22 (2), pp.242-257. ⟨10.1109/21.148427⟩. ⟨hal-01436353⟩
44 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More