[Table of Content] [Appendices] [Abstract] [Summary] [Chapter 1] [Chapter 2] [Chapter 3] [Chapter 4] [Chapter 5] [Chapter 6]

Human Performance in Six Degree of Freedom Input Control

Shumin Zhai, Ph.D.


List of Figures

Figure 2.1 The design space of Experiment 1
Figure 2.3 Experiment 1 set-up.
Figure 2.4 Experiment 1 procedure for each experimental session
Figure 2.5 The MITS Glove
Figure 2.6 The Spaceballü
Figure 2.7 Optimisation of the sensitivity of the isometric rate control
Figure 2.8 Residual distributions before and after log transformation in Experiment 1 .
Figure 2.9 General results of Experiment 1
Figure 2.10 Individual subject results for Test 4 of Experiment 1
Figure 2.11 Subjective ratings of ease of use in Experiment 1
Figure 2.13 Overall subjective preference in Experiment 1
Figure 2.14 Interaction between resistance and transfer function (2D plot)
Figure 2.15 Interaction between resistance and transfer function (3D plot)
Figure 3.1 The EGG - Elastic General-purpose Grip
Figure 3.2 Early design of the elastic 6 DOF controller
Figure 3.3 Optimal gain search for the elastic rate controller for Experiment 2
Figure 3.4 Task mean completion times in four phases of Experiment 2 Figure 3.5 Subjective ratings of ease of use in Experiment 2
Figure 3.6 Subjective ratings of fatigue in Experiment 2
Figure 3.7 6 DOF tracking task
Figure 3.8 The integrated tracking error .
Figure 3.9 Silk Cursor - Volume cursor with semi-transparent surfaces
Figure 3.10 Optimal sensitivity search for Experiment 3
Figure 3.11 Experiment 3 procedure
Figure 3.12 RMS integrated error for the five phases of Experiment 3
Figure 3.13 RMS error means with all tracking paths
Figure 3.14 Subjective ratings of ease of use and fatigue in Experiment 3
Figure 4.1 Homunculus model of somatosensory and motor cortex
Figure 4.2 The glove used in Experiment 4
Figure 4.3 The Fball
Figure 4.4 Task completion times with Fball and Glove
Figure 4.5 Between-subjects analysis of Fball versus Glove
Figure 4.6 Comparison between the Fball and the glove after discounting re-clutching time with the glove
Figure 4.7 Subjective Ratings of Fball vs. Glove
Figure 4.8 Mean completion time in test 5 of Experiment 4 for each subject
Figure 4.9 Mean completion time in Test 5 of Experiment 4
Figure 5.1 The Partial occlusion effect
Figure 5.2 Experiment 5 set-up
Figure 5.3 The volume silk cursor
Figure 5.4 A fish and the wireframe cursor
Figure 5.5 A fish in front of the silk cursor
Figure 5.6 A fish behind the silk cursor
Figure 5.7 A fish completely inside of the cursor
Figure 5.8 Trial completion times as a function of cursor type and display mode
Figure 5.9 Error rate as a function of cursor type and display mode
Figure 5.10 Error magnitude as a function of cursor type and display mode
Figure 5.11 Time performance for each of four conditions at each phase of Experiment 5
Figure 5.12 Error rate for each of conditions at each phase of Experiment 5
Figure 5.13 Mean scores for subjective evaluation of Experiment 5
Figure 5.14 A proposed "silk hand" for VR applications
Figure 5.15 The "silk phantom robot" for telerobot control
Figure 6.1 The human-machine interaction system
Figure 6.2 Isomorphism - tool continuum: A taxonomy
Figure 6.3 Proposed experimental design for testing motor accuracy as a function of spring loading
Figure 6.4 Measuring coordination
Figure A1.1 State transition model of the isotonic position control
Figure A1.2 State-transition model of the isotonic rate control
Figure A1.3 State-transition model of the isometric position control
Figure A1.4 State-transition model of the isometric rate control
Figure A2.1 Rotation vector and its components in the X, Y and Z dimensions
Figure A2.2 Means of RMS tracking errors in horizontal (X), vertical (Y) and depth (Z) dimensions
Figure A2.3 Translation tracking errors with two types of input controllers
Figure A2.4 Baseline test RMS errors when no input control was applied
Figure A2.5 Consistent performance pattern in X, Y, Z across four tracking paths
Figure A2.6 The evolution of in relation to and as a function of experimental phase
Figure A2.7 Error evolution for four distinct tracking paths
Figure A2.8 Error evolution for both input control modes
Figure A2.9 The means of decomposed rotational errors
Figure A2.10 Individual performance in translation and rotation at Phase 0
Figure A2.11 Individual performance in translation and rotation at Phase 5