Adaptive reaching model for visual-motor mapping applied to redundant robotic arms

2003 ◽  
Author(s):  
J.L. Pedreno-Molina ◽  
A. Guerrero-Gonzalez ◽  
J. Lopez-Coronado
Keyword(s):  
Robotic Arms ◽  
Motor Mapping ◽  
Visual Motor

Control Design and Task Performance in Endoscopic Teleoperation

2000 ◽  
Vol 9 (3) ◽  
pp. 256-267 ◽  
Author(s):  
Ori Ben-Porat ◽  
Moshe Shoham ◽  
Joachim Meyer
Keyword(s):  
Degrees Of Freedom ◽  
Position Control ◽  
Control Design ◽  
Control Mode ◽  
Robotic Arm ◽  
Task Completion ◽  
Motor Mapping ◽  
Surgical Tool ◽  
Acquisition Task ◽  
Visual Motor

Endoscopic surgery, while offering considerable gains for the patient, has created new difficulties for the surgeon. One problem is the fulcrum effect, which causes the movement of a surgical instrument, as seen on the monitor, to be in the opposite direction to the movement of the surgeon's hand. The problem has been shown to impede the acquisition of endoscopic skills. Teleoperated robotic arms may circumvent this problem by allowing different control-response relations. Four alternative control designs of a teleoperated device were compared in a simulated endoscopic task. A rigid teleoperated robotic arm with two degrees of freedom representing a surgical tool was coupled to a joystick in a position control mode. Feedback was provided through a video display. Participants without prior experience in endoscopy performed a target acquisition task, first by pointing the robotic arm at the targets, and later by maneuvering an object. Performance was measured under four different combinations of visual-motor mapping (normal/reversed), and the joystick's orientation (upwards/downwards). Task completion time under normal visual-motor mapping was found to be significantly shorter than under reversed visual-motor mapping, emphasizing the potential advantage of a teleoperated endoscopic system. The joystick's orientation affected the maneuvering of an object under only the reversed visual-motor mapping, implying that the positioning of a surgical tool and the manipulation of tissues or objects with the tool may be differentially affected by the control design.

Effect of History Trail Display on Human Spatial Performance under Normal and Rotated Spatial Mappings

2002 ◽  
Vol 46 (17) ◽  
pp. 1623-1627
Author(s):  
Weiwei Du ◽  
Paul Milgram
Keyword(s):  
Movement Direction ◽  
Video Display ◽  
Motor Mapping ◽  
Movement Trajectories ◽  
Movement Error ◽  
Spatial Movement ◽  
Spatial Performance ◽  
Visual Motor ◽  
Normal Mapping ◽  
Mapping Condition

In a rotated visual-motor mapping environment, human spatial performance is seriously affected by misaligned visual and motor reference axes, resulting in elevated spatial errors. In this paper, we propose a history trail display in an augmented reality setting. We investigate the effectiveness of the display in consecutive aiming tasks, under normal visual-motor mapping, as well as mappings with 90°, 135°, and 180° rotations. Spatial movement error and the smoothness of the trajectories were measured and compared between the history trail display and the regular video display. Our results show that, under normal mapping condition, the history trail appears to help reduce the spatial movement error and improve the smoothness of the movement trajectories. With rotated mappings, the benefit of the history trail becomes significant only after a certain degree of adaptation to the rotated mappings has been attained. The history trail appears to enhance the perception of errors, movement direction, and speed information for error-correcting processes during the aiming movements.

Angle of Camera View Influences Resumption Lag in a Visual-Motor Task

2018 ◽  
Vol 61 (5) ◽  
pp. 793-804 ◽  
Author(s):  
Natalie R. Lodinger ◽  
Patricia R. DeLucia
Keyword(s):  
Laparoscopic Surgery ◽  
Motor Task ◽  
Transfer Task ◽  
Primary Task ◽  
Side View ◽  
Motor Mapping ◽  
Subjective Workload ◽  
Mental Demand ◽  
Visual Motor ◽  
Top View

Objective: To determine whether top-view and side-view camera angles, which putatively impose different cognitive demands, differentially affect the resumption lag in a visual-motor task relevant to laparoscopic surgery. Background: Prior research showed that the time to resume a primary task after performing an interrupting task (resumption lag) increases with increases in the subjective workload of the primary task. Camera views used in laparoscopic surgery provide different views of the anatomy and have different cognitive costs and associated levels of workload. Method: Participants completed a peg transfer task while interrupted with a mental rotation task of different durations and angles of stimulus rotation. Results: Participants required significantly more time to resume the peg transfer task when using a side view than a top view and when interrupted for a longer duration. Participants’ ratings of subjective workload were consistent with these patterns of performance data; the side view resulted in longer resumption lags and was rated as greater in mental demand. Additionally, the time needed to resume the peg transfer task decreased across trials for both views. Conclusion: More time is required to resume an interrupted visual-motor task when it is more cognitively demanding than when it is less cognitively demanding possibly due to needing more time to learn the visual-motor mapping of the task higher in cognitive demand. Application: Training for laparoscopic surgery should include interruptions to allow surgeons to practice resuming a surgery-related task after an interruption and consequently shorten the time needed to resume the surgery-related task.

scholarly journals Visual-motor mapping in VR: Detection thresholds for distortions of hand position

2018 ◽  
Vol 18 (10) ◽  
pp. 68
Author(s):  
Siavash Eftekharifar ◽  
Niko Troje
Keyword(s):  
Hand Position ◽  
Detection Thresholds ◽  
Motor Mapping ◽  
Visual Motor

Design of spline surface vacuum gripper for pick and place robotic arms

2020 ◽  
Vol 4 (2) ◽  
pp. 48-55
Author(s):  
A. S. Jamaludin ◽  
M. N. M. Razali ◽  
N. Jasman ◽  
A. N. A. Ghafar ◽  
M. A. Hadi
Keyword(s):  
Cycle Time ◽  
Industrial Robot ◽  
Annealing Process ◽  
Vacuum Suction ◽  
Robotic Arms ◽  
Custom Made ◽  
Pick And Place ◽  
Manufacturing Procedure ◽  
Production Flexibility ◽  
The Impact

The gripper is the most important part in an industrial robot. It is related with the environment around the robot. Today, the industrial robot grippers have to be tuned and custom made for each application by engineers, by searching to get the desired repeatability and behaviour. Vacuum suction is one of the grippers in Watch Case Press Production (WCPP) and a mechanism to improve the efficiency of the manufacturing procedure. Pick and place are the important process for the annealing process. Thus, by implementing vacuum suction gripper, the process of pick and place can be improved. The purpose of vacuum gripper other than design vacuum suction mechanism is to compare the effectiveness of vacuum suction gripper with the conventional pick and place gripper. Vacuum suction gripper is a mechanism to transport part and which later sequencing, eliminating and reducing the activities required to complete the process. Throughout this study, the process pick and place became more effective, the impact on the production of annealing process is faster. The vacuum suction gripper can pick all part at the production which will lower the loss of the productivity. In conclusion, vacuum suction gripper reduces the cycle time about 20%. Vacuum suction gripper can help lower the cycle time of a machine and allow more frequent process in order to increase the production flexibility.

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