Title :
Kinesthetic performance analysis of dual-user teleoperation systems
Author :
Khademian, Behzad ; Hashtrudi-Zaad, Keyvan
Author_Institution :
Queen´´s Univ., Kingston
Abstract :
In dual-user teleoperation systems, unlike traditional teleoperation systems, two users are in interaction with each other as well as with environment. In this paper, the issue of transparency in such collaborative systems is discussed. In addition a number of measures are presented to analyze kinesthetic performance in dual-user systems. These indices are evaluated for a collaborative haptic control architecture presented in [1] for various types of environments, user grasps, and levels of dominance of users over tasks.
Keywords :
multi-robot systems; position control; telerobotics; collaborative system transparency; dual-user teleoperation systems; kinesthetic performance analysis; position-based multilateral controller; Bandwidth; Collaboration; Dynamic range; Haptic interfaces; Impedance measurement; Master-slave; Performance analysis; Position measurement; Transfer functions; Viscosity;
Conference_Titel :
Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
978-1-4244-0990-7
Electronic_ISBN :
978-1-4244-0991-4
DOI :
10.1109/ICSMC.2007.4413644
