Stereo Advantage for a Peg-in-Hole Task Using a Force-Feedback Manipulator
NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA
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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.
- Electrical and Electronic Equipment