Article

Human performance in space telerobotic manipulation

Authors:

Philip Lamb,

Dean OwenAuthors Info & Claims

VRST '05: Proceedings of the ACM symposium on Virtual reality software and technology

Pages 31 - 37

https://doi.org/10.1145/1101616.1101624

Published: 07 November 2005 Publication History

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Abstract

This paper considers the utility of VR in the design of the interface to a space-based telerobotic manipulator. An experiment was conducted to evaluate the potential for improved operator performance in a telemanipulation task when the operator's control interface was varied between egocentric and exocentric frames of reference (FOR). Participants performed three tasks of increasing difficulty using a VR-based simulation of the Space Shuttle Remote Manipulation System (SRMS) under four different control interface conditions, which varied in respect of two factors, virtual viewpoint FOR (fixed versus attached to arm) and hand controller FOR (end-effector-referenced versus world-referenced.) Results indicated a high degree of interaction between spatial properties of the task and the optimal interface condition. Across all tasks, the conditions under end-effector-referenced control were associated with higher performance, as measured by rate of task completion. The mobile viewpoint conditions were generally associated with lower performance on task completion rate but improved performance with respect to number of collisions between the arm and objects in the environment. We conclude with discussion of implications for telemanipulation applications, and an approach to varying the dimension of viewpoint egocentricity in order to improve performance under the mobile viewpoint.

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Cited By

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Wang YPraveena PGleicher M(2024)A Design Space of Control Coordinate Systems in TelemanipulationIEEE Access10.1109/ACCESS.2024.339757612(64150-64164)Online publication date: 2024
https://doi.org/10.1109/ACCESS.2024.3397576
Tang WTian YTan LXue SJiang TZhou SWang C(2023)Human Factors Design and Evaluation of China’s Space Manipulator Teleoperation SystemInternational Journal of Human–Computer Interaction10.1080/10447318.2023.2250055(1-17)Online publication date: 5-Sep-2023
https://doi.org/10.1080/10447318.2023.2250055
Ellery A(2019)Tutorial Review on Space Manipulators for Space Debris MitigationRobotics10.3390/robotics80200348:2(34)Online publication date: 26-Apr-2019
https://doi.org/10.3390/robotics8020034
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Index Terms

Human performance in space telerobotic manipulation
1. Human-centered computing
  1. Human computer interaction (HCI)

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Information & Contributors

Information

Published In

VRST '05: Proceedings of the ACM symposium on Virtual reality software and technology

November 2005

270 pages

ISBN:1595930981

DOI:10.1145/1101616

General Chairs:
Gurminder Singh
Naval Postgraduate School
,
Rynson Lau
City University of Hong Kong, Hong Kong
,
Program Chairs:
Yiorgos Chrysanthou
University of Cyprus, Cyprus
,
Rudolph Darken
Naval Postgraduate School

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 07 November 2005

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VRST05

Sponsor:

VRST05: The ACM Symposium on Virtual Reality Software and Technology 2005

November 7 - 9, 2005

CA, Monterey, USA

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Overall Acceptance Rate 66 of 254 submissions, 26%

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Cited By

View all

Wang YPraveena PGleicher M(2024)A Design Space of Control Coordinate Systems in TelemanipulationIEEE Access10.1109/ACCESS.2024.339757612(64150-64164)Online publication date: 2024
https://doi.org/10.1109/ACCESS.2024.3397576
Tang WTian YTan LXue SJiang TZhou SWang C(2023)Human Factors Design and Evaluation of China’s Space Manipulator Teleoperation SystemInternational Journal of Human–Computer Interaction10.1080/10447318.2023.2250055(1-17)Online publication date: 5-Sep-2023
https://doi.org/10.1080/10447318.2023.2250055
Ellery A(2019)Tutorial Review on Space Manipulators for Space Debris MitigationRobotics10.3390/robotics80200348:2(34)Online publication date: 26-Apr-2019
https://doi.org/10.3390/robotics8020034
Talha MStolkin R(2019)Preliminary Evaluation of an Orbital Camera for Teleoperation of Remote Manipulators2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS40897.2019.8968218(2754-2761)Online publication date: Nov-2019
https://doi.org/10.1109/IROS40897.2019.8968218
Wang CNiu JZhang YPan D(2019)An Evaluation Model Based on the Fuzzy AHP for Teleoperation PerformanceThe International Journal of Aerospace Psychology10.1080/24721840.2019.160247229:1-2(42-52)Online publication date: 6-May-2019
https://doi.org/10.1080/24721840.2019.1602472
Guo JLiu YKong XZhou SYang J(2019)Analysis of Key Cognitive Factors in Space Teleoperation TaskEngineering Psychology and Cognitive Ergonomics10.1007/978-3-030-22507-0_20(249-258)Online publication date: 26-Jul-2019
https://dl.acm.org/doi/10.1007/978-3-030-22507-0_20
Xue SJiang GJiang TWang CTian Z(2019)Creating and Testing Objective Performance Metrics for the Manual Teleoperation of Robotic ArmsDigital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Human Body and Motion10.1007/978-3-030-22216-1_35(479-490)Online publication date: 19-Jun-2019
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Meng ZLiang XAndersen HAng M(2016)Modelling and control of a 2-link mobile manipulator with virtual prototyping2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)10.1109/URAI.2016.7734061(363-368)Online publication date: Aug-2016
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Cani D.L. CBreyer FKelner J(2016)Remote HRI and Mixed Reality, an OntologyDesign, User Experience, and Usability: Technological Contexts10.1007/978-3-319-40406-6_23(249-257)Online publication date: 22-Jun-2016
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Fong TRochlis Zumbado JCurrie NMishkin AAkin D(2013)Space TeleroboticsReviews of Human Factors and Ergonomics10.1177/1557234X135106799:1(6-56)Online publication date: 23-Dec-2013
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