TY - GEN
T1 - Kinesthetic performance analysis of asymmetric dual-user shared teleoperation system
AU - Lu, Zhenyu
AU - Huang, Panfeng
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/16
Y1 - 2015/12/16
N2 - Different from traditional symmetric dual-user shared control method, a novel dual-user teleoperation system asymmetric shared control method is proposed. The asymmetric architecture contains three dominance factors-one affects the control authority and the other two ones balance the effect of transparency and movement tracking performance of the masters. The main sections conclude the properties of kinesthetic performance of the asymmetric dual-user shared control structures that are different from the traditional system, which are evaluated by several measuring functions. Experiments are taken to verify the conclusions, and the results represent that the performance range and best kinesthetic performance of asymmetric architecture are wider and superior than the ones of traditional method. In addition, the masters have more autonomy during the manipulating process.
AB - Different from traditional symmetric dual-user shared control method, a novel dual-user teleoperation system asymmetric shared control method is proposed. The asymmetric architecture contains three dominance factors-one affects the control authority and the other two ones balance the effect of transparency and movement tracking performance of the masters. The main sections conclude the properties of kinesthetic performance of the asymmetric dual-user shared control structures that are different from the traditional system, which are evaluated by several measuring functions. Experiments are taken to verify the conclusions, and the results represent that the performance range and best kinesthetic performance of asymmetric architecture are wider and superior than the ones of traditional method. In addition, the masters have more autonomy during the manipulating process.
KW - Asymmetric dual-user shared teleoperation
KW - Dominance factors
KW - kinesthetic performance measurement
KW - movement tracking performance
KW - transparency
UR - http://www.scopus.com/inward/record.url?scp=84962716888&partnerID=8YFLogxK
U2 - 10.1109/URAI.2015.7358951
DO - 10.1109/URAI.2015.7358951
M3 - 会议稿件
AN - SCOPUS:84962716888
T3 - 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
SP - 273
EP - 278
BT - 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Y2 - 28 October 2015 through 30 October 2015
ER -