Principal Investigators
Bernard D. Adelstein, NASA Ames Research Center
Stephen R. Ellis, NASA Ames Research Center
Abstract
An applied research and development program to determine human factors guidelines for effective haptic (force reflecting) manual interfaces to multisensory virtual simulator and teleop-eration displays is described. The two major program aspects include:
1) the design and implementation of a novel, very high performance three degree of freedom (dof) force reflecting manual interface for use with our laboratoryUs virtual visual display as a research testbed; and
 2) examination of human perception and manual task performance respectively through psychophysical discrimination and manual target acquisition experiments with the combined haptic-visual virtual environment (VE) testbed. While prior research has focused on control and system dynamics for manipulation stability in remote and virtual environments, issues specific to successful display of higher bandwidth force reflected sensory information have not received attention. In addition to teleoperation interfaces, application areas for improved force displays include design prototyping and operator training for handtools and control panels that might be used for in-space assembly, planetary exploration, and scientific data visualization. Analytic and methods are used to assess the success and synthesis of body referenced or body-mounted human interfaces to multisensory virtual environments.
Recent Publications
- Adelstein, B.D., Ho., P., and Kazerooni, H. Kinematic design of a three degree of freedom parallel hand controller mechanism. Proceedings, Dynamic Systems and Control Division, DSC-Vol. 58, American Society of Mechanical Engineers, New York, 1996, pp. 539-546.
- Adelstein, B.D., Gayme, D.F., Kazerooni, H., and Ho, P. Three degree of freedom haptic Interface for precision manipulation Proceedings, Dynamic Systems and Control Division, DSC-Vol. 64, American Society of Mechanical Engineers, New York, 1998, p. 185.
- Rosenberg, L.B, and Adelstein, B.D. (1993) Perceptual decomposition of virtual haptic surfaces. Proceedings, IEEE Symposium on Research Frontiers in Virtual Reality, IEEE Computer Society Press, Los Alamitos CA, 1993, pp. 46-53.
- Adelstein, B.D., and Rosen, M.J. (1992) Design and Implementation of a force reflecting manipulandum for manual control research. In H. Kazerooni, ed., Advances in Robotics, American Society of Mechanical Engineers, New York, 1992, pp. 1-12.
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