Telerobotic response requirements

摘要

The bandwidth and response characteristics required for effective telerobotic control are investigated. The definition of these requirements is based on surveying existing literature on teleoperation, robotics, and human factors to determine if sufficient knowledge in this area is available to adequately specify appropriate requirements. An idealized design goal based on the concept of telepresence is presented. To further clarify the response requirements, the control problem is divided into the two major components of teleoperation: the human operator and the telerobot. The literature survey showed that humans have asymmetrical input/output capabilities. It was also found that a human does not have one single relevant bandwidth, but rather that bandwidth is a function of the human's mode of operation. A survey was conducted in which 12 experts were queried to find a consensus based on experience. These results are presented and recommendations are derived.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>