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Psychophysical Evaluation of Control Scheme Designed for Optimal Kinesthetic Perception in Scaled Teleoperation

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http://pubman.mpdl.mpg.de/cone/persons/resource/persons84227

Son,  HI
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Son, H., Bhattacharjee T, Jung, H., & Lee, D. (2010). Psychophysical Evaluation of Control Scheme Designed for Optimal Kinesthetic Perception in Scaled Teleoperation. In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) (pp. 5346-5351). Piscataway, NJ, USA: IEEE.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-C04C-E
Abstract
This paper focuses on psychophysical evaluation of the control scheme developed to optimize the kinesthetic perception during the scaled teleoperation. The control problem is formulated as a multi-objective constrained optimization. The objective function is a metric which quantifies the detection and discrimination capacity of the human operator. The constraints are position tracking accuracy and absolute stability of the scaled teleoperation. Two popular control architectures, i.e., the position-position and the force-position control architectures are considered in this paper. The method of limits is employed in this paper to conduct the psychophysical experiments and evaluation. Results show that the developed control scheme is more effective in increasing the detection and discrimination capacity of human subjects as compared to the traditional transparency-optimized control laws.