Human-machine cooperative teleoperation of Fitts task using uncertain sensor and model data

摘要

Inadequacies in sensor and image processing technology have limited the capabilities of autonomous robotics in complex environments. However, the tedium and fatigue commonly encountered in manual teleoperation has prompted research in the area of sensor and computer assisted teleoperation. A method of sensor assisted teleoperation consisting of automatic selection of variable velocity mapping parameters based on sensor accuracy is briefly reviewed. The application of variable velocity mapping to the execution of Fitts task is described, and the theoretically predicted increase in performance compared with the actual increases shown. The experimental results are used to support a method of choosing mapping parameters to provide the optimal assistance when there are known inaccuracies in the available sensor data according to the initially described concept.