Transparency in Bilateral Teleopration - 05/11/2011

Amir Karniel

Title: Transparency in Bilateral Teleopration

Bilateral (force reflecting) teleoperation allows human operators to determine the motion of a remote slave robot by moving a local master robot and feeling the forces reflected from the slave to the master. Such systems could be most useful for various applications, however, the unavoidable delay prevents truly transparent channel. We assert that understanding the human perception and control of delayed environment could facilitate the design of perceptually transparent telemanipulation. In this talk I will review our recent findings about perception of delayed stiffness and our human centered approach to transparency in teleoperation. I will start with a short introduction to computational motor control, and a brief overview of the studies in my laboratory, about predictive control in lifting task and about reverse-hysteresis in cyclic movements. I will then concentrate on a series of psychophysical experiments and computational modeling accounting for perception of delayed stiffness under various probing conditions. Finally, I’ll describe our three dimensional measure of transparency which considers perception as well as local and remote action. I’ll conclude with a challenge called the Turing-like handshake test for motor intelligence. Understanding the human motor control is essential for the development of optimal internet protocols for teleoperation with force feedback.

The studies in the computational motor control laboratory are supported by the United States-Israel Binational Science Foundation (BSF); by the National Institute for Psychobiology in Israel (NIPB); by the ministry of science (MOS); and by the Israel Science Foundation (ISF).

-- JiaxiJin - 22 Jun 2011