[485] EFFECT OF HUMAN-MACHINE INTERFACE DEGREES OF FREEDOM ON PERFORMANCE IN SPACE TELEROBOTICS

摘要

INTRODUCTION:There are many potential human-machine interfaces for controlling complex robotics. However, restrictions in hardware, software, or human capability may pose limits on the input device degrees-of-freedom (DoF).This study examined the human factors of input device DoF, hypothesizing that different limitations on interface DoF would affect operator performance and technique. METHODS: Experiments used a Canadarm2 simulator with a dual-joystick interface that was adapted to operate under limited DoF conditions. Four interfaces were compared - full multi-axis (FM), limited rotation (RL), limited translation (TL), and without simultaneous translation/rotation or "non-bimanual'(NB). Fifteen participants age 18-36 (12 M, 3 F) were trained on operating the Canadarm2 to approach and grapple a moving cargo vehicle within a ninety-second time limit. Participants had 14 practice trials followed by 13 experimental trials for each condition. Workload was assessed objectively through a secondary task (responding to a message indicator) and subjectively via the NASATLX. Spatial ability was assessed using the Vandenberg Mental Rotation Test. One male subject failed to complete training and was disqualified from participation. This study was approved by the MIT Committee on the Use of Humans as Experimental Subjects.