{"title":"用于拟人机器人电视操作的双手微型机械手","authors":"J. Vercher, G. Gauthier, J. Bertrand, G. Magenes","doi":"10.1109/ICSMC.1989.71404","DOIUrl":null,"url":null,"abstract":"Some problems raised by bimanual coordination control of articulated systems are studied. In particular, the performance of human operators driving an anthropomorphic robot along 3-D trajectories using either a bimanual micromanipulator or a keypad is compared. The trajectories were materialized in space by a thin wire twisted to trace a cosine wave. The performance was quantified in terms of total time (that is, the time to drive the robot effector through the trajectory), cumulated error, standard deviation and maximum error along the trajectory.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"37 1","pages":"804-805 vol.2"},"PeriodicalIF":0.0000,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Bimanual micro manipulator for televideo operation of anthropomorphic robots\",\"authors\":\"J. Vercher, G. Gauthier, J. Bertrand, G. Magenes\",\"doi\":\"10.1109/ICSMC.1989.71404\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Some problems raised by bimanual coordination control of articulated systems are studied. In particular, the performance of human operators driving an anthropomorphic robot along 3-D trajectories using either a bimanual micromanipulator or a keypad is compared. The trajectories were materialized in space by a thin wire twisted to trace a cosine wave. The performance was quantified in terms of total time (that is, the time to drive the robot effector through the trajectory), cumulated error, standard deviation and maximum error along the trajectory.<<ETX>>\",\"PeriodicalId\":72691,\"journal\":{\"name\":\"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics\",\"volume\":\"37 1\",\"pages\":\"804-805 vol.2\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1989-11-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSMC.1989.71404\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSMC.1989.71404","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Bimanual micro manipulator for televideo operation of anthropomorphic robots
Some problems raised by bimanual coordination control of articulated systems are studied. In particular, the performance of human operators driving an anthropomorphic robot along 3-D trajectories using either a bimanual micromanipulator or a keypad is compared. The trajectories were materialized in space by a thin wire twisted to trace a cosine wave. The performance was quantified in terms of total time (that is, the time to drive the robot effector through the trajectory), cumulated error, standard deviation and maximum error along the trajectory.<>
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