Psychophysical evaluation of control scheme designed for optimal kinesthetic perception in scaled teleoperation

This paper focuses on psychophysical evaluation of the control scheme developed to optimize the kinesthetic perception during the scaled teleoperation. The control problem is formulated as a multi-objective constrained optimization. The objective function is a metric which quantifies the detection a...

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Bibliographic Details
Published in:2010 IEEE International Conference on Robotics and Automation pp. 5346 - 5351
Main Authors: Hyoung Il Son, Bhattacharjee, Tapomayukh, Hoeryong Jung, Doo Yong Lee
Format: Conference Proceeding
Language:English
Published: IEEE 01.05.2010
Subjects:
Automatic control
Control systems
Force control
Haptic interfaces
Humans
Impedance
Master-slave
Optimal control
Psychology
Robotics and automation
ISBN:9781424450381, 1424450381
ISSN:1050-4729
Online Access:Get full text
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Summary:This paper focuses on psychophysical evaluation of the control scheme developed to optimize the kinesthetic perception during the scaled teleoperation. The control problem is formulated as a multi-objective constrained optimization. The objective function is a metric which quantifies the detection and discrimination capacity of the human operator. The constraints are position tracking accuracy and absolute stability of the scaled teleoperation. Two popular control architectures, i.e., the position-position and the force-position control architectures are considered in this paper. The method of limits is employed in this paper to conduct the psychophysical experiments and evaluation. Results show that the developed control scheme is more effective in increasing the detection and discrimination capacity of human subjects as compared to the traditional transparency-optimized control laws.
ISBN:9781424450381
1424450381
ISSN:1050-4729
DOI:10.1109/ROBOT.2010.5509368