Activation cues and force scaling methods for virtual fixtures Export

@inproceedings{Nolin2003, abstract = {Previous work has shown that virtual fixtures applied to cooperative manipulation systems improve performance in tracking tasks. However, if a user wishes to move away from the nominal path, the stiffness of the virtual fixture should be adjusted to increase the level of user control. Our experiments show that modifying the stiffness of a soft virtual fixture can improve a user's performance, measured by position error and execution time, for a task where the user targets a point off the nominal path. Three methods of changing the stiffness of the virtual fixture were tested: on/off toggle, linear fade, and constant force hold. In addition, we considered three methods of activating the stiffness change: explicit, implicit, and automatic. User trials revealed that several combinations of stiffness scaling and activation methods significantly reduced position errors when compared to no stiffness adjustment.}, author = {Nolin, J. T. and Stemniski, P. M. and Okamura, A. M.}, booktitle = {11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems}, citeulike-article-id = {1679526}, keywords = {activation, automatic, bibtex-import, constant, control, cooperative, cues, device, error, execution, explicit, fade, feedback, fixture, force, haptic, hold, implicit, interfaces, linear, manipulation, method, methods, modelling, onoff, performance, position, reality, scaling, soft, stiffness, systems, time, toggle, tracking, user, virtual}, pages = {404--409}, posted-at = {2007-09-20 17:17:28}, priority = {0}, title = {Activation cues and force scaling methods for virtual fixtures}, year = {2003} }

TY - CONF ID - Nolin2003 L3 - citeulike-article-id:1679526 N2 - Previous work has shown that virtual fixtures applied to cooperative manipulation systems improve performance in tracking tasks. However, if a user wishes to move away from the nominal path, the stiffness of the virtual fixture should be adjusted to increase the level of user control. Our experiments show that modifying the stiffness of a soft virtual fixture can improve a user's performance, measured by position error and execution time, for a task where the user targets a point off the nominal path. Three methods of changing the stiffness of the virtual fixture were tested: on/off toggle, linear fade, and constant force hold. In addition, we considered three methods of activating the stiffness change: explicit, implicit, and automatic. User trials revealed that several combinations of stiffness scaling and activation methods significantly reduced position errors when compared to no stiffness adjustment. EP - 409 TI - Activation cues and force scaling methods for virtual fixtures T2 - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems SP - 404 KW - activation KW - automatic KW - bibtex-import KW - constant KW - control KW - cooperative KW - cues KW - device KW - error KW - execution KW - explicit KW - fade KW - feedback KW - fixture KW - force KW - haptic KW - hold KW - implicit KW - interfaces KW - linear KW - manipulation KW - method KW - methods KW - modelling KW - onoff KW - performance KW - position KW - reality KW - scaling KW - soft KW - stiffness KW - systems KW - time KW - toggle KW - tracking KW - user KW - virtual AU - Nolin, JT AU - Stemniski, PM AU - Okamura, AM PY - 2003/// ER -