The Influence of Mass and Friction in Teleoperated Tasks.

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics Pub Date : 2025-05-16 DOI:10.1109/TOH.2025.3570795

Christophe van der Walt, Sara Falcone, Jan van Erp, Stefano Stramigioli, Douwe Dresscher

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引用次数: 0

Abstract

Model Mediated Teleoperation (MMT) is a method of teleoperation by which a model of the environment is displayed to the operator for delay-free feedback. The choice of the model is important to the performance of the system. A more descriptive model will give the operator more accurate feedback, but this can cause problems for the estimator and the renderer required to make MMT function. However, if certain environmental dynamics are not used by the operator to effectively manipulate the environment, they could be excluded from the feedback, thus mitigating thew problems caused for the estimator and renderer. This work investigates whether mass and friction modelling influence an operator's effectiveness at accomplishing teleoperated tasks as measured by a subjective Sense of Embodiment, environmental interaction force, and task completion time. It was found that mass had a significant influence (p$< $ 0.001) on task completion time and interaction force, whereas static and dynamic friction only had an influence on completion time when mass feedback was absent (p$< $ 0.001). In all cases, the presence of a dynamic effect increased interaction force and task completion time.

查看原文本刊更多论文

质量和摩擦对遥操作任务的影响。

模型介导遥操作（MMT）是一种将环境模型显示给操作者进行无延迟反馈的遥操作方法。模型的选择对系统的性能至关重要。更具描述性的模型将为操作员提供更准确的反馈，但这可能会给使MMT发挥作用所需的估计器和呈现器带来问题。然而，如果操作者不使用某些环境动态来有效地操纵环境，则可以将其排除在反馈之外，从而减轻了对估计器和渲染器造成的新问题。这项工作调查了质量和摩擦建模是否影响操作员完成远程操作任务的有效性，通过主观的体现感、环境相互作用力和任务完成时间来衡量。研究发现，质量对任务完成时间和作用力有显著影响（p$< $ 0.001），而静摩擦和动摩擦仅在没有质量反馈的情况下对任务完成时间有影响（p$< $ 0.001）。在所有情况下，动态效应的存在增加了相互作用力和任务完成时间。

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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来源期刊

IEEE Transactions on Haptics COMPUTER SCIENCE, CYBERNETICS-

CiteScore

5.90

自引率

13.80%

发文量

109

审稿时长

>12 weeks

期刊介绍： IEEE Transactions on Haptics (ToH) is a scholarly archival journal that addresses the science, technology, and applications associated with information acquisition and object manipulation through touch. Haptic interactions relevant to this journal include all aspects of manual exploration and manipulation of objects by humans, machines and interactions between the two, performed in real, virtual, teleoperated or networked environments. Research areas of relevance to this publication include, but are not limited to, the following topics: Human haptic and multi-sensory perception and action, Aspects of motor control that explicitly pertain to human haptics, Haptic interactions via passive or active tools and machines, Devices that sense, enable, or create haptic interactions locally or at a distance, Haptic rendering and its association with graphic and auditory rendering in virtual reality, Algorithms, controls, and dynamics of haptic devices, users, and interactions between the two, Human-machine performance and safety with haptic feedback, Haptics in the context of human-computer interactions, Systems and networks using haptic devices and interactions, including multi-modal feedback, Application of the above, for example in areas such as education, rehabilitation, medicine, computer-aided design, skills training, computer games, driver controls, simulation, and visualization.