Abstract
In this study, we examine the role of three force scaling laws in the performance, by human operators, of scaled teleoperated pick and place tasks. In the experiments we used a hybrid hardware-software telemanipulation system with force feedback. Human subjects were provided with visual and various types of force feedback in order to perform the desired task. The force feedback depended on the scaling law used. Our results show that impedance scaling and time scaling improved the performance with respect to constant (i.e., geometric only) scaling or no force feed-back.
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Schedule a callMore From: Transactions of the Japan Society of Mechanical Engineers Series C
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