Timman Shahrzad, Landgraf Markus, Haskamp Christoph, Lizy-Destrez Stephanie, Dehais Frederic
European Space Agency, ESTEC, Noordwijk, the Netherlands; Institut Supérieur de l'Aéronautique et de l'Espace, Toulouse, France.
European Space Agency, ESTEC, Noordwijk, the Netherlands.
Appl Ergon. 2023 Feb;107:103910. doi: 10.1016/j.apergo.2022.103910. Epub 2022 Nov 2.
The purpose of this study is to quantify performance in human-robot interaction under time-delay conditions in a lunar tele-operations sampling task, by testing the hypothesis that an increase of time-delay would lead to higher perceived workload and lower human performance in human-robotic integrated operations. Tele-operation is key in the exploration of the Moon, and allows for robotic elements to be controlled from orbital infrastructure and other planetary bodies such as the Earth. Considering that future missions aim to control rovers (amongst others for sampling tasks) from Earth (delay: 3s), the Gateway (delay: 0.5s) and the Moon (delay: 0s), control under the time-delay conditions for these locations must be studied. Time-delay can affect performance, and understanding the performance means that mission operations can be planned bottom-up, which benefits both the preparation of the crew and the design of rovers. An experiment was conducted with 18 engineers who were assigned to control a robotic arm under three time-delay conditions, representing the three control locations. Several metrics were derived from cardiac, ocular, subjective and behavioral measures. The analyses disclosed that the large time-delay condition statistically increased the perceived workload, the time to complete the mission and decreased heart rate variability compared to the other conditions. However, no effect of time-delay was found on attentional and executive abilities. The metrics proved to be effective in the study of performance quantification in human-robot interaction for tele-operations in lunar control scenarios. This approach can be implemented for a larger range of robotic activities, such as tele-operated driving.
本研究的目的是通过检验时延增加会导致人机集成操作中更高的感知工作量和更低的人类绩效这一假设，来量化月球远程操作采样任务中时延条件下的人机交互性能。远程操作是月球探索的关键，它允许从轨道基础设施和其他行星体（如地球）控制机器人部件。考虑到未来的任务旨在从地球（时延：3秒）、网关（时延：0.5秒）和月球（时延：0秒）控制漫游车（包括用于采样任务的漫游车），必须研究这些地点在时延条件下的控制情况。时延会影响性能，了解性能意味着可以自下而上地规划任务操作，这对机组人员的准备和漫游车的设计都有好处。对18名工程师进行了一项实验，他们被分配在三种时延条件下控制一个机械臂，这三种时延条件分别代表三个控制地点。从心脏、眼睛、主观和行为测量中得出了几个指标。分析表明，与其他条件相比，大时延条件在统计学上增加了感知工作量、完成任务的时间，并降低了心率变异性。然而，未发现时延对注意力和执行能力有影响。这些指标被证明在研究月球控制场景中远程操作的人机交互性能量化方面是有效的。这种方法可用于更广泛的机器人活动，如远程驾驶。
