Utility of whole-hand input

David J. Sturman; David L. Zeltzer

doi:10.1117/12.164909

21 December 1993 Utility of whole-hand input

David J. Sturman, David L. Zeltzer

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164909
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

Using a design method for whole-hand input developed by the authors, the teleoperation of a six-legged mobile robot with manipulator arms has been simulated. Evaluations of three different control structures compare performance between conventional input, exemplified by a set of dials, and whole-hand input using a VPL DataGlove. The evaluations reveal a range of appropriate use of whole-hand input compared to conventional input. In the first example, whole-hand input is superior, in the second, whole-hand input provides performance on par with conventional devices, and in the last, whole-hand input is inferior to conventional devices.

Citation Download Citation

David J. Sturman and David L. Zeltzer "Utility of whole-hand input", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164909

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