Operator interface testing of a space telerobotic system

The major goals for this hand controller study were to compare the performance and operator preferences for three hand controllers, evaluate the learning curves associated with each hand controller and to determine what, if any, effects of hand controller test order were present. The hand controllers tested included a joint position controller, a cartesian position controller and a resolved rate controller. Repeated structural connector assembly trials were conducted with three different controllers. Enough runs were performed with each hand controller to determine learning curves for each task and hand controller. Controllers were also grouped by ordered pairs to evaluate transference of learning from one to another. Two post-test questionnaires were completed by every test subject to evaluate operator preferences.