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Title: Tri-manipulation : an evaluation of human performance in 3-handed teleoperation
Authors: Huang, Yanpei
Eden, Jonathan
Cao, Lin
Burdet, Etienne
Phee, Soo Jay
Keywords: Engineering::Computer science and engineering
Issue Date: 2020
Source: Huang, Y., Eden, J., Cao, L., Burdet, E. & Phee, S. J. (2020). Tri-manipulation : an evaluation of human performance in 3-handed teleoperation. IEEE Transactions On Medical Robotics and Bionics, 2(4), 545-548.
Project: NRFI2016-07
Journal: IEEE Transactions on Medical Robotics and Bionics
Abstract: With a third hand a human subject could possibly be able to perform tasks that they would otherwise be incapable of. Foot-controlled interfaces have proven suitable for controlling robot arms, however, when it is best to use such devices and what limitations they place when controlling a supernumerary robotic limb (SL) in combination with the natural limbs (NLs) is unknown. Here, we report an investigation of three-handed manipulation carried out using a foot interface. We analysed i) what effect the addition of SL has on the performance of the NLs; and ii) how mechanical and/or cognitive coupling alters user performance. When the subjects moved the three limbs without coupling, only the motion's completion time was observed to be significantly affected. In contrast with coupling, the incorporation of the foot controlled hand was found to affect the success rate, and planning of the motion, however it did not affect motion characteristics such as smoothness.
ISSN: 2576-3202
DOI: 10.1109/TMRB.2020.3033137
Rights: © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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