Wildenbeest J G W, Abbink D A, Heemskerk C J M, van der Helm F C T, Boessenkool H
IEEE Trans Haptics. 2013 Apr-Jun;6(2):242-52. doi: 10.1109/TOH.2012.19.
In teleoperation, haptic feedback allows the human operator to touch the remote environment. Yet, it is only partially understood to what extent the quality of haptic feedback contributes to human-in-the-loop task performance. This paper presents a human factors experiment in which teleoperated task performance and control effort are assessed for a typical (dis-)assembly task in a hard-to-hard environment, well known to the operator. Subjects are provided with four levels of haptic feedback quality: no haptic feedback, low-frequency haptic feedback, combined low- and high-frequency haptic feedback, and the best possible-a natural spectrum of haptic feedback in a direct-controlled equivalent of the task. Four generalized fundamental subtasks are identified, namely: 1) free-space movement, 2) contact transition, 3) constrained translational, and 4) constrained rotational tasks. The results show that overall task performance and control effort are primarily improved by providing low-frequency haptic feedback (specifically by improvements in constrained translational and constrained rotational tasks), while further haptic feedback quality improvements yield only marginal performance increases and control effort decreases, even if a full natural spectrum of haptic feedback is provided.
在远程操作中，触觉反馈使人类操作员能够触摸远程环境。然而，触觉反馈的质量在多大程度上有助于人在回路中的任务性能，目前人们对此只有部分理解。本文介绍了一项人为因素实验，在一个操作员熟悉的硬对硬环境中，针对一项典型的（拆卸）组装任务，评估远程操作任务的性能和控制努力。为受试者提供四种触觉反馈质量水平：无触觉反馈、低频触觉反馈、低频和高频组合触觉反馈，以及在任务的直接控制等效物中尽可能好的——自然频谱的触觉反馈。确定了四个广义基本子任务，即：1）自由空间运动，2）接触过渡，3）受限平移，以及4）受限旋转任务。结果表明，提供低频触觉反馈（特别是通过改善受限平移和受限旋转任务）主要提高了整体任务性能和控制努力，而即使提供了完整的自然频谱触觉反馈，进一步提高触觉反馈质量仅带来边际性能提升和控制努力降低。
