New human-centered kinetostatic criteria for tele-operated robots, validation with medical tele-sonography robots

This paper revisits global kinematical performance indexes within the scope of manually teleoperated serial robots in accounting for the human operator. The proposed theory is grounded on the knowledge of a human-centered coordinate system to parameterize the task space. Perceptual parameters are also introduced in the Man-system interaction effort. The resulting expression is used to derive a local kinematical index and a probability density. The global index is computed by integration over the whole robot's jointspace. The proposed index is proved to be relevant by outperforming classical indexes in predicting the end-user satisfaction of medical tele-sonography robots. Therefore this index could be considered as a criterion design to optimize the kinematics of homogenous non-redundant serial telerobots.