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相关概念视频

Controller Configurations01:22

Controller Configurations

85
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
85

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相关实验视频

Updated: Jun 5, 2025

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
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手柄的形状会影响系统在远程操作中的可用性.

Esther I Zoller1, Sibylle von Ballmoos1, Nicolas Gerig1

  • 1Bio-Inspired RObots for MEDicine-Laboratory, Department of Biomedical Engineering, University of Basel, Allschwil, Switzerland.

Frontiers in robotics and AI
|December 9, 2024
PubMed
概括
此摘要是机器生成的。

远程操纵器手柄的选择显著影响了外科医生在机器人手术中的可用性. 当接触力不至关重要时,固定手柄是最好的,而三脚架手柄则是低接触力任务的最佳选择.

关键词:
人体工程学是人体工程学.处理 处理 处理 处理人类因素 人类因素远程操作远程操作可用性可用性可用性

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 人与计算机的交互
  • 手术技术 手术技术

背景情况:

  • 在远程操作的机器人手术中,人体工程学的挑战很普遍,影响了外科医生的表现.
  • 控制器手柄的设计对于远程操作系统的可用性至关重要.
  • 现有的关于手术人类机器人系统可用性的研究往往是定性性的,或缺乏手术特定任务的重点.

研究的目的:

  • 为了研究不同掌握型远程操纵器手柄对外科手术任务可用性的影响.
  • 评估手柄设计对虚拟手术任务中的关键性能指标的影响.
  • 为了确定特定外科手术场景的最佳手柄设计.

主要方法:

  • 通过使用触觉输入设备评估了九个抓取类型的远程操纵器手柄,用于虚拟的六度自由度 (6-DOF) 插孔任务.
  • 使用四个可用性指标评估用户性能:任务完成时间,无维抽动,碰撞力和感知工作负载.
  • 使用线性混合效应模型 (LMM) 进行数据分析.

主要成果:

  • 这四个可用性指标都在很大程度上取决于所使用的遥控器手柄的类型.
  • 洞的可访问性也为人机系统的整体可用性做出了贡献.
  • 固定把手在接触力不至关重要的情况下表现最好;三脚架把手在需要较低接触力的任务中优越.

结论:

  • 掌握型远程操纵器手柄显然会影响在6DOF远程操作的外科手术任务中系统的可用性.
  • 应适应特定任务的要求,特别是在接触力灵敏度方面.
  • 优化功能旋转工作空间可以提高机器人手术中的整体系统可用性.