[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.


Chapter 2 - The Effects of Device Resistance and Transfer Function in 6 DOF Manipulation

2.1 Introduction

2.2 Analysis and Literature on Isometric versus Isotonic Devices
2.2.1 Defining the Terms
2.2.2 The Literature on isometric versus isotonic devices

2.3 Analysis and Literature on Position versus Rate Control
2.3.1 Theoretical Analysis of Position versus Rate Control
2.3.2 The Literature on Position versus Rate Control

2.4 Rationale and Hypotheses for New Experiment

2.5 Experiment 1 Set-up
2.5.1 Experimental Platform
2.5.2 Experimental Task - 6 DOF Docking
2.5.3 Display
2.5.4 Subjects
2.5.5 Experimental Design and Procedure

2.6 Descriptions of the Four Techniques in Experiment 1
2.6.1 Isotonic Position Control
2.6.2 Isotonic Rate Control
2.6.3 Isometric Position Control
2.6.4 Isometric Rate Control

2.7 Optimisation of the Input Techniques

2.8 Experiment 1 Results
2.8.1 Data Transformation
2.8.2 General Results
2.8.3 Performance in Early Experiment Phase
2.8.4 Performance in Final Phase of Experiment
2.8.5 Ease of Use
2.8.6 Fatigue
2.8.7 Subjective Preference
2.8.8 Interaction between Resistance and Transfer Function

2.9 Conclusions and Discussions