Passive and active assistance for human performance of a simulated underactuated dynamic task

11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings. Pub Date : 2003-03-22 DOI:10.1109/HAPTIC.2003.1191308

M. O'Malley, Abhishek Gupta

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引用次数: 30

Abstract

Machine-mediated training of dynamic task completion is typically implemented with passive intervention via virtual fixtures or active assist by means of record and replay strategies. During interaction with a real dynamic system however, the user relies on both visual and haptic feedback real-time in order to elicit desired motions. This work investigates human performance in a Fitts' type targeting task with an underactuated dynamic system. Performance, in terms of number of hits and between-target tap times, is measured while various passive and active control modes are displayed concurrently with the haptic feedback from the simulated system's own dynamic behavior. It Is hypothesized that passive and active assist modes that are implemented during manipulation of simulated underactuated systems could be beneficial in rehabilitation applications. Results indicate that human performance can be improved significantly with the passive and active assist modes.

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被动和主动辅助模拟欠驱动动态任务的人类表现

机器介导的动态任务完成训练通常通过虚拟装置的被动干预或通过记录和重播策略的主动辅助来实现。然而，在与真实动态系统的交互过程中，用户依赖于视觉和触觉实时反馈，以引出所需的动作。这项工作研究了人类在一个欠驱动的动态系统的Fitts型目标任务中的表现。在各种被动和主动控制模式与仿真系统自身动态行为的触觉反馈同时显示的同时，测量了击中次数和目标间点击次数方面的性能。据推测，在模拟欠驱动系统的操作过程中实施的被动和主动辅助模式可能有利于康复应用。结果表明，被动和主动辅助模式均能显著提高人的工作表现。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings.

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