Print Email Facebook Twitter The Influence of Teleoperator Stiffness and Damping on Object Discrimination Title The Influence of Teleoperator Stiffness and Damping on Object Discrimination Author Christiansson, G.A.V. Van der Linde, R.Q. Van der Helm, F.C.T. Faculty Mechanical, Maritime and Materials Engineering Department Precision and Microsystems Engineering Date 2008-10-31 Abstract Human task performance using teleoperator systems depends on the physical and controlled parameters of the system. Two teleoperated grasping tasks—size and stiffness discrimination—were studied to investigate how changes in system parameters influence human capabilities. The device characteristics altered were teleoperator stiffness (size and stiffness discrimination) and teleoperator damping (size discrimination only). It was found that neither teleoperator stiffness nor teleoperator damping influenced size discrimination. Also, teleoperator stiffness did not influence stiffness discrimination. Furthermore, teleoperated performance was compared with direct interaction using bare hands or with the fingers in a bracket. Size discrimination performance was equivalent for these three conditions, but stiffness discrimination performance was lower for teleoperation than for direct interaction. Subject hapticsperceptionteleoperation To reference this document use: http://resolver.tudelft.nl/uuid:9af1b79e-c1f1-45fc-8342-eb347cf87fd4 Publisher IEEE ISSN 1552-3098 Source IEEE Transactions on Robotics, 24 (5), 2008 Part of collection Institutional Repository Document type journal article Rights (c) 2008 IEEE Files PDF christiansson2008.pdf 229.92 KB Close viewer /islandora/object/uuid:9af1b79e-c1f1-45fc-8342-eb347cf87fd4/datastream/OBJ/view