Periodic components of hand acceleration/deceleration impulses during telemanipulation

John V. Draper; Stephen Handel

doi:10.1117/12.164914

21 December 1993 Periodic components of hand acceleration/deceleration impulses during telemanipulation

John V. Draper, Stephen Handel

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164914
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

Responsiveness is the ability of a telemanipulator to recreate user trajectories and impedance in time and space. For trajectory production, a key determinant of responsiveness is the ability of the system to accept user inputs, which are forces on the master handle generated by user hand acceleration/deceleration (a/d) impulses, and translate them into slave arm acceleration/deceleration. This paper presents observations of master controller a/d impulses during completion of a simple target acquisition task. Power spectral density functions calculated from hand controller a/d impulses were used to assess impulse waveform. The relative contributions of frequency intervals ranging up to 25 Hz for three spatially different versions of the task were used to determine which frequencies were most important. The highest relative power was observed in frequencies between 1 Hz and 6 Hz. The key frequencies related to task difficult were in the range from 2 Hz to 8 Hz. Differences were also observed from 9 Hz to 12 Hz. The results provide clues to the source of the performance inhibition.

Citation Download Citation

John V. Draper and Stephen Handel "Periodic components of hand acceleration/deceleration impulses during telemanipulation", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164914

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