Ergonomic mouse based interface for 3D orientation control of a tele-sonography robot

Author

Courreges, F. ; Edkie, A. ; Poisson, G. ; Vieyres, P.

Author_Institution

Dept. Math. & Info. of Lab., Univ. of Limoges, Limoges, France

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

61

Lastpage

66

Abstract

This paper proposes a new ergonomic frame to describe the attitude of a robot arm and to be used for human-machine interface in telerobotic with application to telesonography. A three part psychophysical analysis enabled us to design this new system of angles exhibiting a good decorrelation among its degrees of freedom. A decorrelation improvement of up to 83% can be noticed compare to the standard 3-1-3 Euler angles. This new frame has been exploited to conceive human-machine interface with a low cost input device such as the standard IT mouse. Psychophysical results show indisputable superiority of our new system compare to the standard Euler one for orientation tracking in teleoperation conditions.

Keywords

biomedical ultrasonics; ergonomics; human-robot interaction; medical robotics; mouse controllers (computers); psychology; telerobotics; user interfaces; 3D orientation control; IT mouse; degrees of freedom; ergonomic mouse; human-machine interface; orientation tracking; psychophysical analysis; robot arm; standard 3-1-3 Euler angles; teleoperation condition; telerobotic; telesonography robot; Attitude control; Ergonomics; Intelligent robots; Medical diagnostic imaging; Medical robotics; Mice; Position control; Probes; Robot kinematics; Ultrasonic imaging;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354366

Filename

5354366