Effects of Force Reflection on Telerobotic Performance

by Raymond Dick, Univ of Kansas, Lawrence, United States,
Terry Faddis, Univ of Kansas, Lawrence, United States,
Bill Barr, Univ of Kansas, Lawrence, United States,



Document Type: Proceeding Paper

Part of: Robotics for Challenging Environments

Abstract:

The University of Kansas Augmented Telerobotics Laboratory conducted a study to examine the effects of force reflection on telerobotic system and operator performance in performing two simulated space tasks. Nine inexperienced subjects were trained and tested on a Kraft bilateral force feedback telerobotic system with and without force reflection. Task completion time data, slave manipulator joint torque data and subjective data were collected. The results of this study suggest that force reflection may be utilized to perform simple tasks in a kinematically similar telerobotic system to reduce slave manipulator joint torques without significantly affecting the human operator's performance.

Subject Headings: Data collection | Joints | Space exploration | Laboratory tests | Kinematics | Automation and robotics | Load factors

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