Operator Performance in Undersea Manipulator Systems:Studies of Control Performance with Visual Force Feedback.

摘要

The study was conducted to identify and evaluate selected design variables in undersea manipulator systems with force feedback capability. The objective was to develop relationships between selected force feedback variables and operator control performance. A comprehensive series of engineering tests which describe response characteristics of the experimental manipulator system were completed. Man-In-The-Loop Experiments were conducted to evaluate the relative merits of a highly compliant unilateral position control manipulator, and a similar system having visual meter read-out of applied forces. A group of selected tasks simulated typical work patterns presently being performed by undersea manipulators. Results indicated that visual force displays enabled significantly lower application of forces against work surfaces. Operator time sharing of slave position and meter read-out resulted in generally longer task times. Both systems demonstrated operators ability to control forces in close tolerance tasks. (Author)