Accession Number : ADA116787

Title :   Computer Simulated Visual and Tactile Feedback as an Aid to Manipulator and Vehicle Control,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE DEPT OF MECHANICAL ENGINEERING

Personal Author(s) : Winey,Calvin McCoy , III

PDF Url : ADA116787

Report Date : 08 May 1981

Pagination or Media Count : 138

Abstract : A computer graphic simulation of a seven degree-of-freedom slave manipulator controlled by an actual master was developed. An electronically coupled E-2 manipulator had previously been interfaced to a PDP-11/34 by K. Tani, allowing the computer to sense and control each degree of freedom independently. The simulated manipulator was capable of moving an arbitrary shaped object and sensing a force in an arbitrary direction with no actual object or force existing. The simulated manipulator could also be attached to a simulated vehicle capable of motion with six degrees-of-freedom. The vehicle simulation is currently being used in conjunction with dynamic simulations developed by H. Kazerooni to test different types of dynamic controllers for submarines. Shadows, multiple views and proximity indicators were evaluated to determine their effectiveness in giving depth information. The results indicated that these aids are useful. Subjects felt that shadows gave the best perception of the environment, but found isometric views easist to use on the tasks performed. This type of simulation appears to be realistic and adaptable to a multitude of applications.

Descriptors :   *Man machine systems, *Man computer interface, *Computerized simulation, *Computer graphics, *Artificial intelligence, *Manipulators, Vehicles, Degrees of freedom, Feedback, Operators(Personnel), Shadows, Depth indicators, Submarine simulators, Teleoperators, Test and evaluation, Computer programs, Control systems, Interfaces, Proximity devices, Touch, Visual perception

Subject Categories : Computer Programming and Software
      Human Factors Engineering & Man Machine System
      Bionics

Distribution Statement : APPROVED FOR PUBLIC RELEASE