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Analytical Study of Perceptual and Motor Transparency in Bilateral Teleoperation
BibTeX
@MISC{Nisky_analyticalstudy,
author = {Ilana Nisky and O A. Mussa-ivaldi and Amir Karniel and Senior Member},
title = {Analytical Study of Perceptual and Motor Transparency in Bilateral Teleoperation},
year = {}
}
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Abstract
Abstract—In bilateral teleoperation, a human operator manipulates a remote environment through a pair of master and slave robots. Transparency quantifies the fidelity of the teleoperation system, and is typically defined as the ability to accurately display remote environment properties to the operator. We propose a novel multidimensional measure of transparency which takes into account the human operator and consists of three components: (1) perceptual transparency, which quantifies human perception of the remote environment (2) local motor transparency, which quantifies how far is the movement of the human operator from ideal, and (3) remote motor transparency which describes how far is the movement of the remote device from ideal. We suggest that for many practical applications, the goal of transparency optimization is to maintain perceptual and remote motor transparency while sacrificing local motor transparency, and that it is plausible by taking advantage of the gap between perception and action in the operators sensorimotor system. We prove analytically that for a teleoperation channel with a position and force scaling and a constant transmission delay, in a palpation and perception of stiffness task, it is possible to find gains that assure perfect perceptual and remote motor transparency while maintaining stability. We also show that stability depends on the operator maintaining sufficient arm impedance relative to environment impedance and delay. Index Terms—telerobotics, delay effects, human factors, physical human-robot interaction, human perception, haptics and haptic interfaces. I.
Keyphrases
bilateral teleoperation motor transparency human operator remote motor transparency analytical study local motor transparency human perception remote environment operator sensorimotor system teleoperation system slave robot force scaling perceptual transparency teleoperation channel index term telerobotics environment impedance remote device physical human-robot interaction human factor transparency optimization remote environment property constant transmission delay many practical application stiffness task novel multidimensional measure haptic interface delay effect sufficient arm impedance relative
