HUMAN ROBOT SYNERGISM AND VIRTUAL TELEROBOTIC CONTROL
Proc. 25th Annual Conference of the Human Factors Association of Canada
Hamilton, Ont., 1992.
Taking a broader perspective than the conventional field of
teleoperation and telerobotics, this paper proposes the concept of human
robot synergism, as a practical approach to carrying out a variety of
"intelligent" manipulation tasks whose procedures and environment
may not be well anticipated beforehand. Such a human robot synergetic
system would be essential not only for transferring human problem
solving capabilities to hazardous environments where telerobots are
now being applied, but also for situations which require unusual
strength or precision, such as in certain type of surgery.
The pros and cons of four basic design models, namely
master/slave, telepresence, teacher/student and supervisor/companion,
are discussed. While telepresence is currently attracting great research
interest, we feel communicative supervisor/companion approach should
not be overlooked and may reveal more advantages of human robot
synergetic systems.The paper discusses continuous vs. discrete
languages as communication formats in human robot synergy. In
accordance with conceptual framework, "Virtual control" concept and its
technical implementation are also briefly presented.
Full copy in postscript