Abstract
In this paper, we present experiments to determine the effect of different virtual fixture compliance levels in a human-machine cooperative manipulation system. Subjects used the JHU Steady Hand Robot with vision-based virtual fixtures to perform three common tasks: curve following, off-path targeting, and object avoidance. The virtual fixtures provided different levels of guidance to the operator, ranging from no guidance to complete guidance. User performance was evaluated based on the error and time for task execution. We developed an algorithm to determine the appropriate compliance level based on the nature of the task. Task parameters considered were time vs. accuracy and user constraint vs. freedom.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
