IEEE Transactions on Human Factors in Electronics · 1965 · 332 citations · 0 references
EngineeringMechatronics EngineeringRobotics EngineeringAutomationRobot ControlRoboticsMovement TimingRemote ManipulationRobot ManipulationTeleoperationTeleoperation ControlTime Delay EffectsDelayed TeleoperationManipulator ModelingMaster-slave TeleoperationOperatorsTask Completion RateTask Difficulty AssessmentTime-delay CompensationTransmission Delay
Completion time in remote manipulation depends on the length of open‑loop movement sequences when operators use a move‑and‑wait strategy. The study examined how inserting transmission delay between master and slave elements affects performance on simple and complex remote manipulation tasks. The authors modified a prior method to predict task‑completion time from no‑delay data, enabling assessment of delay effects. Operators largely adopted a move‑and‑wait strategy, and the number of moves matched predictions from a simple statistical model.
The effect on the performance of both simple and complex tasks of inserting transmission delay between the master and slave elements of a remote manipulator was studied. Most operators spontaneously adopted an effective "move-and-wait" strategy to cope with delay. A modification of a method proposed earlier enabled task-completion time to be accurately predicted from data taken when there was no delay. With the move-and-wait strategy, completion time depends on the length of sequences of open-loop movements. The number of such moves for positioning in one dimension as a function of task difficulty was found to agree with that predicted by a simple statistical model.