远程操作员合动力学影响人机控制跨追踪追踪速度
IEEE transactions on haptics
|March 3, 2025
概括
人类可以适应机器人远程操作员的动态,但性能因合类型和速度而异. 本研究探讨了电机力如何影响视觉运动任务中的用户控制.
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
- 发动机控制器的控制器
背景情况:
- 机器人远程操作器在用户和环境之间创造独特的电机动力.
- 了解这些动态对人类表现的影响对于有效的远程操作设计至关重要.
- 当前的研究往往侧重于尽量减少远程操作员动态,忽视它们对用户运动控制的影响.
研究的目的:
- 调查远程操作员动态如何影响视觉运动追踪任务中的性能.
- 为了确定人类能够在多大程度上适应其运动控制策略以适应不同的远程操作员配置.
- 分析合类型和任务速度对用户性能和补偿策略的影响.
主要方法:
- 使用1度自由度 (1-DoF) 遥控器测试台,具有可调节的机械和电机械合器.
- 招募了30名参与者,以执行各种频率 (0.55-2.35赫兹) 的视觉运动追踪任务.
- 将测试台配置为机械,单边和双边设置,以比较性能.
主要成果:
- 追随者跟踪性能在所有配置中保持一致.
- 在机械,单边和双边配置之间,领导者调整和抓地力差异很大.
- 参与者对合动态进行补偿的能力随着执行速度的增加而显著下降.
结论:
- 人类可以将远程操作者动态整合到他们的运动控制中,开发补偿策略.
- 领导者跟随者合动态和任务执行速度显著影响人类补偿的有效性.
- 研究结果强调了在设计以用户为中心的机器人系统时考虑远程操作员动态和任务参数的重要性.
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