• Journal of the Ergonomics Society of Korea
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• v.23 no.2
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• pp.25-36
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• 2004

The effects of task characteristics on the relative efficiency of visual display dimension were studied using a simulated tele-robotic task. Through a conventional method of task analysis. the tele-robotic task was divided into two categories: the task element requiring focused attention (FA task) and the task element requiring global attention (CA task). Time-ta-completion data were collected for a total of 120 trials involving 10 participants. For the CA task. there was no significant difference between the multiple two-dimensional (20) display and the three-dimensional (3D) monocular display. For the FA task. however. the multiple 20 display was superior to the 3D monocular display. The results suggest that the characteristics of a given task have a considerable effect on the choice of display dimensionality and the multiple 3D display is better for human operators to effectively judge depth if the task requires frequent use of focused attention.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.10
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• pp.572-581
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• 2000

When the manipulator consisting of high ratio gear reducers at its joints is used as the slave manipulator in teleoperated systems, its dynamic characteristics is much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude. The control input saturation generates an windup phenomenon that the system stability and position tracking performance of the slave manipulator are to be deteriorated. This paper proposes an force reflecting control scheme and its design method which compensates the control input saturation with absolute stability. The proposed scheme is shown to give a stable force reflection while compensating for control input saturation effectively.