Human-machine interfaces (HMIs) can be used in a variety of
applications, including teleoperated systems, haptic training
simulators, movement therapy for neuro-rehabilitation, and prostheses.
The most effective controller, which maps the user's physical input to
the control interface and the output of a controlled object, may depend
on the particular application. In general, HMIs can be categorized as
either isometric (no user movement; applied force/torque is the control
input) or anisometric (allows user movement; displacement is the control
input).
This work investigated a controller
that allowed transition between anisometric and isometric mode of an
HMI, shifting the control input from position to force as the user's
movement is gradually reduced. We tested two different controller
designs on a custom haptic device. This anisometric to isometric
transitioning can potentially be used for training purposes, enabling
transfer of what was learning in one mode to the other, as well as novel
studies of the human sensorimotor system.
|
|
T. L. Gibo,
M. F. Rotella, A. J. Bastian, and A. M. Okamura.
Gradual
anisometric-isometric transition for human-machine interfaces.
33rd
Annual International Conference of the IEEE Engineering in Medicine and
Biology Society (EMBS), pp. 4507-4510, 2011.
|
|
