원격제어 시스템에서 햅틱 가이던스의 위치 및 방향 오차가 작업 성능에 미치는 영향: Peg-in-hole 작업

Effects of the Position and Orientation Inaccuracies in Haptic Guidance on the Task Performance in Teleoperation Systems: Peg-in-hole Task

This study evaluates the usefulness of haptic guidance and investigates the effect of inaccuracy in haptic guidance on the task performance. Both position inaccuracy and orientation inaccuracy were considered. The peg-in-hole task was conducted as a benchmark test for evaluation, and a psychophysical study was performed and analyzed on eight inaccuracy combinations. In conclusion, the haptic guidance showed outstanding performance in terms of task completion time, position tracking performance, contact force, and total force, but the haptic guidance with severe orientation inaccuracy caused serious complications.

This study evaluates the usefulness of haptic guidance and investigates the effect of inaccuracy in haptic guidance on the task performance. Both position inaccuracy and orientation inaccuracy were considered. The peg-in-hole task was conducted as a benchmark test for evaluation, and a psychophysical study was performed and analyzed on eight inaccuracy combinations. In conclusion, the haptic guidance showed outstanding performance in terms of task completion time, position tracking performance, contact force, and total force, but the haptic guidance with severe orientation inaccuracy caused serious complications.