Teleoperator Coupling Dynamics Impact Human Motor Control Across Pursuit Tracking Speeds.

Abstract

Robotic teleoperators introduce novel electromechanical dynamics between the user and the environment. While considerable effort has focused on minimizing these dynamics, we lack a robust understanding of their impact on user task performance across the range of human motor control ability. Here, we utilize a 1-DoF teleoperator testbed with interchangeable mechanical and electromechanical couplings between the leader and follower to investigate to what extent, if any, the dynamics of the teleoperator influence performance in a visual-motor pursuit tracking task. We recruited N = 30 participants to perform the task at frequencies ranging from 0.55 - 2.35 Hz, with the testbed configured into Mechanical, Unilateral, and Bilateral configurations. Results demonstrate that tracking performance at the follower was similar across configurations. However, participants' adjustment at the leader differed between Mechanical, Unilateral, and Bilateral configurations. In addition, participants applied different grip forces between the Mechanical and Unilateral configurations. Finally, participants' ability to compensate for coupling dynamics diminished significantly as execution speed increased. Overall, these findings support the argument that humans are capable of incorporating teleoperator dynamics into their motor control scheme and producing compensatory control strategies to account for these dynamics; however, this compensation is significantly affected by the leader-follower coupling dynamics and the speed of task execution.