Trimanipulation: an evaluation of human performance in 3-handed teleoperation
File(s)
Accepted version
Author(s)
Huang, Yanpei
Eden, Jonathan
Cao, Lin
Burdet, Etienne
Phee, Soo Jay
Type
Journal Article
Abstract
With a third hand a human subject could be able to perform tasks that they would otherwise be incapable of. Foot-controlled interfaces have proven suitable for controlling robot arms, however, when it is best to use such devices and what limitations they place when controlling a supernumerary robotic limb (SL) in combination with the natural limbs (NLs) is unknown. Here, we report an investigation of three-handed manipulation with a foot interface. We analysed i) what effect the addition of a SL has on the performance of the NLs; and ii) how mechanical and/or cognitive coupling alters user performance. When the subjects moved the three limbs without coupling, only the motion’s completion time was observed to be significantly affected. In contrast with coupling, the incorporation of the foot controlled hand was found to affect the success rate, and planning of the motion, however it did not affect motion characteristics such as smoothness.
Date Issued
2020-11
Date Acceptance
2020-10-16
Citation
IEEE Transactions on Medical Robotics and Bionics, 2020, 2 (4), pp.545-548
ISSN
2576-3202
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Start Page
545
End Page
548
Journal / Book Title
IEEE Transactions on Medical Robotics and Bionics
Volume
2
Issue
4
Copyright Statement
© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor
Engineering & Physical Science Research Council (E
Commission of the European Communities
Commission of the European Communities
Identifier
https://ieeexplore.ieee.org/document/9235524
Grant Number
EP/R026092/1
843408
899626
Subjects
cs.RO
cs.RO
cs.HC
Publication Status
Published
Date Publish Online
2020-10-22