Accession Number:

ADA224604

Title:

Stereo Advantage for a Peg-in-Hole Task Using a Force-Feedback Manipulator

Descriptive Note:

Professional paper

Corporate Author:

NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA

Personal Author(s):

Report Date:

1990-02-01

Pagination or Media Count:

12.0

Abstract:

An improved assessment methodology has been implemented at NOSC and tested using an instrumented peg-in-hole PiH taskboard. Several aspects of the methodology are discussed in light of their implications for future studies of manipulator performance. Using a simple but high-fidelity force-feedback manipulator, a group of nine trained operators showed a consistent advantage for stereoscopic TV viewing over monoscopic TV viewing when performing the PiH task. To introduce a controlled element of spatial uncertainty into the testing procedure, taskboard orientation relative to the manipulator and remote video camera head was changed in a randomized order on a trial-by-trial basis. The stereoscopic advantage demonstrated by this study can reasonably be expected to be even more pronounced as the quality of the stereo TV interface is improved and force-feedback provided through the manipulator system is diminished andor distorted. Keywords Electronic imaging, Electronic equipment, Teleoperators, Visual perception, Performance assessment, Displays, Stereopsis, Remote manipulation.

Subject Categories:

  • Electrical and Electronic Equipment

Distribution Statement:

APPROVED FOR PUBLIC RELEASE