Effects of force reflection on servomanipulator task performance
This paper reports results of a testing program that assessed the impact of force reflection on servomanipulator task performance. The testing program compared three force-reflection levels: 4 to 1 (four units of force on the slave produce one unit of force at the master controller), 1 to 1, and infinity to 1 (no force reflection). Time required to complete tasks, rate of occurrence of errors, the maximum force applied to task components, and variability in forces during completion of representative remote handling tasks were used as dependent variables. Operators exhibited lower error rates, lower peak forces, and more consistent application of forces using force reflection than they did without it. These data support the hypothesis that force reflection provides useful information for servomanipulator operators.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 7148334
- Report Number(s):
- CONF-870301-4; ON: DE87003008
- Resource Relation:
- Conference: International topical meeting on remote systems and robotics in hostile environments, Pasco, WA, USA, 29 Mar 1987
- Country of Publication:
- United States
- Language:
- English
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