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Ergonomic Optimization of a Force Feedback Joystick for Telerobotic Applications

Weber, Bernhard and Rothkirch, Iris (2014) Ergonomic Optimization of a Force Feedback Joystick for Telerobotic Applications. In: Proceedings of the 5th AHFE Conference, 20. AHFE Conference. 5th Applied Human Factors and Ergonomics Conference 2013, 20.-23.07.2014, Krakau, Polen. ISBN 978-1-4951-2104-3

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In telerobotic systems, the human operator remotely controls a robotic system (e.g. exploration rovers or humanoids) with an input device. The performance and usability of such systems is highly dependent on haptic information displayed at the input device. Besides active force feedback (e.g. reflecting collisions of the remote system and its environment), passive force feedback (like inertia) should be provided to improve the operators sensorimotor performance. In the present study, we used a two-dimensional joystick providing high resolution force feedback for investigating the effects of passive force feedback (spring stiffness, damping and inertia) on human performance. The N = 11 participants had to perform a series of target acquisition and pursuit tracking tasks in a simulation. While the target acquisition task encompassed 1) rapid movements to one of the eight target areas and 2) precise matching of these targets, the pursuit tracking required to match a target moving along four different axes with a sinusoidal speed profile. The mechanical properties were varied systematically, utilizing a 3 (no vs. moderate [0.22 Nm/rad] vs. high spring stiffness [0.44 Nm/rad]) x 3 (no vs. moderate [0.045 Nm*s/rad] vs. high damping [0.09 Nm*s/rad]) x 2 (no vs. moderate virtual inertia [2.2 g *m2]) within subjects design. The results indicate that spring stiffness helps reducing overshoots during target acquisition, but also leads to significantly longer matching times. Dynamic tracking movements can be performed most accurately when being supported by moderate stiffness. While high damping negatively affects movement speed, moderate damping presents a good compromise between speed and precision with fewer overshoots, precise target matching and high tracking performance. Interestingly, we also found a positive effect of moderate inertia on target matching, indicating that inertia compensates tremor. In a next step, we will validate these findings in real telerobotic scenarios and in combination with active force feedback.

Item URL in elib:https://elib.dlr.de/90453/
Document Type:Conference or Workshop Item (Poster)
Title:Ergonomic Optimization of a Force Feedback Joystick for Telerobotic Applications
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Weber, BernhardBernhard.Weber (at) dlr.deUNSPECIFIED
Date:July 2014
Journal or Publication Title:Proceedings of the 5th AHFE Conference
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Publisher:AHFE Conference
Series Name:Advances in Human Factors and Ergonomics 2014
Keywords:Force feedback, Teleoperation, Telerobotics, Stiffness, Damping, Inertia, Sensorimotor Performance
Event Title:5th Applied Human Factors and Ergonomics Conference 2013
Event Location:Krakau, Polen
Event Type:international Conference
Event Dates:20.-23.07.2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Raumflugbetrieb / Teleoperation (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Weber, Dr. Bernhard
Deposited On:03 Sep 2014 11:31
Last Modified:03 Sep 2014 11:31

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