TY - JOUR
AU - Yokokohji, Yasuyoshi
AB - This study aims to experimentally determine the most suitable control interface for different subtasks in the teleoperation of construction robots in a simulation environment. We compare a conventional lever-based rate control interface (“Rate-lever”) with two alternative methods: rate control (“Rate-3D”) and position control (“Position-3D”), both using a 3D positional input device. In the experiments, participants operated a construction machine in a virtual environment and evaluated the control interfaces across three tasks: sagittal plane excavation, turning, and continuous operation. The results revealed that “Position-3D” outperformed others for sagittal excavation, while both “Rate-lever” and “Rate-3D” were more effective for turning. Notably, “Position-3D” and “Rate-3D” can be implemented on the same input device and are easily integrated. This feature offers the possibility of a hybrid-type interface suitable for operators to obtain optimized performance in sagittal and horizontal tasks.
TI - Subtask-Based Usability Evaluation of Control Interfaces for Teleoperated Excavation Tasks
JF - Robotics
DO - 10.3390/robotics13110163
DA - 2024-11-09
UR - https://www.deepdyve.com/lp/multidisciplinary-digital-publishing-institute/subtask-based-usability-evaluation-of-control-interfaces-for-bK2IUYCmrD
SP - 163
VL - 13
IS - 11
DP - DeepDyve
ER -