Evaluation of Assembly Tasks in Augmented Telerobotics

A distributed telerobotic system consists of a client station (operator) and a server station (slave arm) interconnected by a computer network. The system is evaluated using (1) pegin-hole insertion, and (2) assembly of a small water pump. Direct teleoperation is evaluated using following schemes: (1) stereo vision, (2) vision and force feedback, and (3) vision with active compliance. Space indexing and scalability tools are also used. Mapping of operator hand motion and force feedback to a convenient tool point reduces operator mental load and task time due to highly-coordinated motion and ease of understanding of force feedback. Operator is logically manipulating the remote tool both in motion and force and feels the exerted forces as they were exerted in the hand. With active compliance all tasks are done in the least task times and with the least contact force. Stereo vision may alone be used but with large peak forces and extended task time. Force feedback has nearly equal task time as compared to active compliance but with a noticeable increase in contact forces. Force feedback and active compliance are critical tools for extending human eye-hand motion coordination and dexterity to remote work in hazardous, hostile, inaccessible, and small-scale environments.