<title>Fusing human and machine skills for remote robotic operations</title>

摘要

Robotic devices under control of a remote human operator are increasingly attractive for space, underseas, nuclear, and waste management applications. In these arenas, the target tasks are often casually structured, non-repetitive activities which, given currently available automation technologies, seem to suggest teleoperative, versus purely robotic implementations. However, there may be a better alternative, one that is achievable in the reasonable future -- augment conventional teleoperations systems with computer assists -- to both improve task performance and lower operator workload. For instance, we illustrate in this paper how computer assists can improve teleoperator trajectory tracking during both free and force-constrained motions. Specifically, we report on computer graphics techniques which enable the human operator to both visualize and predict his detailed 3-D trajectories in real-time; we also describe man-machine interactive control procedures for better management of manipulator contact forces and positioning. Collectively, these new advanced teleoperations techniques both enhance system performance and significantly reduce control problems long-associated with teleoperations under time delay.