Empirically derived guidelines for the effective use of haptic output signals in teleoperation systems

摘要

Teleoperation systems are designed to allow its user(s) to perform manipulation tasks in a remote environment, usually in real-time. Application fields range from teleoperated micro-assembly, over minimally invasive surgery, to large-scale assembly of heavy parts. Human work performance with modern teleoperation systems is hampered by two issues in particular: poor movement accuracy and excessive force application, both of which frequently result in damage to equipment and slow work performance (Zhai & Senders, 1997; Adams, Klowden, & Hannaford, 2001; Ware & Balakrishnan, 1994). Human-machine interfaces with haptic output capability promise to ameliorate these problems as they can support the user's movement control directly with haptic guidance. Theoretical reflections and empirical indications imply beneficial effects of haptic displays on task performance with teleoperation systems, yet systematic, scientific investigations regarding tangible performance benefits remain rare. Furthermore, in the past, system-centred approaches to the design and evaluation of the human-machine-interface have been favoured, which emphasise technological af-fordances and challenges. Only rarely is the application context taken into account in the formulation of design guidelines. As a result, transparent guidelines, which might advise system developers on the best use of haptic signals in teleoperation systems, are still lacking.