A novel teleoperator testbed to understand the effects of master-slave dynamics on embodiment and kinesthetic perception *

by   Mohit Singhala, et al.

With the rising popularity of telerobotic systems, the focus on transparency with regards to haptic perception is also increasing. Transparency, however, represents a theoretical ideal as most bilateral force-reflecting telerobots introduce dynamics (stiffness and damping) between the operator and the environment. To achieve true dexterity, it will be essential to understand how humans embody the dynamics of these telerobots and thereby distinguish them from the environment they are exploring. In this short manuscript, we introduce a novel single degree-of-freedom testbed designed to perform psychophysical and task performance assessments of kinesthetic perception during telerobotic exploration. The system is capable of being configured as a rigid mechanical teleoperator, a dynamic mechanical teleoperator, and an electromechanicaal teleoperator. We performed prefatory system identification and found that the system is capable of simulating telerobotic exploration necessary to understand the impact of master-slave dynamics on kinesthetic perception.



page 2


A novel testbed for investigating the impact of teleoperator dynamics on perceived environment dynamics

Human-in-the-loop telerobotic systems (HiLTS) are robotic tools designed...

Investigating the effects of exploration dynamics on stiffness perception

The utility of Human-in-the-loop telerobotic systems (HiLTS) is driven i...

Towards an Understanding of the Role Operator Limb Dynamics Plays in Haptic Perception of Stiffness

Creating haptic interfaces capable of rendering the rich sensation neede...

Perception of Mechanical Properties via Wrist Haptics: Effects of Feedback Congruence

Despite non-co-location, haptic stimulation at the wrist can potentially...

Adapting the Predator-Prey Game Theoretic Environment to Army Tactical Edge Scenarios with Computational Multiagent Systems

The historical origins of the game theoretic predator-prey pursuit probl...

Press'Em: Simulating Varying Button Tactility via FDVV Models

Push-buttons provide rich haptic feedback during a press via mechanical ...

Crowdsourcing the Perception of Machine Teaching

Teachable interfaces can empower end-users to attune machine learning sy...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.