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Extravehicular activities (EVAs) are a hazardous and expensive procedural method to operate in outer space. A possible support or alternative for manned missions in terms of on-orbit servicing are telemanipulation-systems. Whether or not such systems can actually achieve the efficiency of suited astronauts remains a central issue in telemanipulation research. Both scenarios, extravehicular activities...
Haptic assistance functions for a telepresence system are presented and assessed. These assistance functions are based on the augmentation of exchanged position and force data, and they are intended to increase the transparency of the telepresence system while maintaining stability. We present the concept and implementation of different assistance functions. Furthermore, we show the setup and results...
High network requirements of multiple degrees of freedom haptic data exchange represent a challenge in modern telepresence and teleaction systems. This study presents a systematic evaluation of a psychophysics-based approach to lossy haptic data compression proposed in the literature: the deadband approach and its extension which introduces additional signal model based prediction. In an experimental...
The video shows a rich multi-modal multi-user telepresence system, which was developed within the SFB453 funded by the German Research Foundation (www.sfb453.de). As a complex application scenario, the remote repairing of a broken pipe is presented in this paper. The system basically consists of two operator-teleoperator- pairs. While one of the operators interacts with a stationary human- system-interface,...
Visual-haptic compliance perception demands processing of haptic position and force information as well as visual position information. In this study it was analyzed how different compliances are perceived and how single modality estimates are combined to a visual-haptic percept of compliance. Participants estimated the compliance of a virtual cube displayed by a human system interface. Thereby, psychometric...
Visual-haptic perception of an object's compliance demands integration of haptic position and force information as well as visual position information. In this investigation the role of active exploration on visual perception as well as the influence of visual-haptic information was addressed. Participants were instructed to directly match a compliant stimulus displayed either by vision (static-passive...
Perception of compliant environments through a human system interface with visual and proprioceptive feedback is investigated. Participants had to explore the virtual environment by gripping with two fingers. Haptically, compliance was generated by an admittance control scheme. Perception of compliance under conflicting multimodal information was analyzed using an adaptive staircase method. Inter...
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