Cart (Loading....) | Create Account
Close category search window
 

Hand acceleration impulse bandwidth during target acquisition: implications for teleoperator bandwidth requirements

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Draper, J.V. ; Robotics & Process Syst. Div., Oak Ridge Nat. Lab., TN, USA

The purpose of this experiment was to provide data about bandwidth requirements for teleoperators. During teleoperation, user inputs are changes in forces applied to the master controller arising from changes in hand acceleration during execution of goal-directed trajectories, so human hand acceleration bandwidth sets an upper bound on teleoperator feedforward bandwidth requirements. Participants completed a set of computerized target acquisition tasks using a mouse, and the computer recorded the cursor trajectory. Movement time, positioning error, the number of acceleration-deceleration impulses, impulse bandwidth, impulse amplitude, and impulse period were calculated from the trajectory trace. The results obtained show that to completely capture hand trajectories, master controllers and slave arms must have acceleration bandwidth higher than 9.20 Hz. However, it may be that only the joints closest to the end-effector need to accommodate the highest bandwidths and “shoulder” joints may only need to accommodate 5.63 Hz acceleration bandwidth

Published in:

Systems, Man and Cybernetics, IEEE Transactions on  (Volume:24 ,  Issue: 6 )

Date of Publication:

Jun 1994

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.