Abstract
Recent developments in the design of teleoperators have produced various functions aimed at reducing the physical workload of the human operator. The effects of modifying force feedback and of suppressing the vertical force component of the manipulated object on task performance and subject workload have been studied. A pick and place task was carried out on a horizontal or vertical work surface using an MA 23 computer-aided telemanipulator. Subjects manipulated standard sized objects of two weights under two conditions of force feedback either with or without the vertical force component acting on the object. Task performance was measured in terms of movement times and pointing accuracy on the target. Subject workload was evaluated using surface EMG recordings of muscle activity from selected muscles of the upper arm and shoulder. The results showed that movement direction had the greatest influence on performance. Improvements in performance were noted when the overall forces required to carry out the movement were reduced. For the range of conditions tested, few significant differences were found for individual factors, that is between the two levels of force feedback or the presence/absence of the vertical force component
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