REVIEW OF HUMAN-MACHINE

INTERFACES FOR SMALL

UNNAMED SYSTEMS USING
ROBOTIC MANIPULATORS
ABSTRACT
• This article reviews the Human-Machine interaction (HMI) Technologies used for
Telemanipulation by Small unnamed systems (SUS) With Remote Manipulators
• SUS, including Land, Air, and Sea vehicles can perform a wide range of actions and
manipulation tasks with varying level of autonomy
• SUS Operations involving physical interactions with the environment require some
level of operator involvement
• Telemanipulatiom remains a challenging task for all levels of human interaction
because the operator and the vehicle are not co-located
• This survey summarizes the effect of physical and visual interfaces factors on user
performance and discuss these findings in the context of Telemanipulating SUS
LEVELS OF AUTONOMY
• REMOTE CONTROL SYSTEMS : Remote Controls occur when the
operator directly Controls the Manipulator Actuators , Its Either Non-
Computer aided Computer aided
• HUMAN ASSISTED SYSTEMS : Under this telemanipulation the operator
manually controls a larger proportion of manipulator functions therefore the
human is the ultimate decision maker
• HUMAN DELEGATED SYSTEMS : In human delegated systems , the SUS
maintains more control than the operator , And operator provides guiding
commands
• HUMAN SUPERVISED SYSTEMS : Operator provides high-level Goal
oriented commands But the decision making capabilities and manipulator lie
with the SUS
OPERATOR INTERFACES USED FOR
TELEMANIPULATION INPUTS
• MASTER SLAVE CONTROLLERS : Master controller is geometrically
similar to the Manipulator at certain scales
• Operator input from the master arm map directly to the slave arm under
remote control operation
• The master controller can control each degree off freedom individually
• SEMI-AUTOMATIC INPUT DEVICES : It enable remote control and
human assisted control, it’s includes joysticks or other physical controllers
• Joysticks can operate under position control , Under position control the
joystick commands the desired velocity
• The input commands are proportional to the joystick displacement
• COMPUTER WORKSTATIONS : Operator can control systems via
communication networks through computer Workstations, Including laptops
and desktops
• Networked SUS can be controlled through user interface software
implemented on a Workstation which requires a keyboard and mouse for user
input
• Operator can control the Manipulator by deciding where to click within
interface or through keystroke inputs
• MOBILE TABLETS : It uses standard gestures,low cost and widely available
• Operators can give either high level directives or control the Manipulator
position directly through tablet interfaces
• Touch based interfaces are generally easy for nonexpert users
 SEMI
JOYSTICK
AUTOMATIC
INPUT DEVICE

COMPUTER TABLET
WORKSTATIO
TYPES OF VISUAL DISPLAYS THAT AFFECT
TELEMANIPULATION
MR DISPLAYS : MR Displays integrate elements of both virtual and real
world’s
• MR displays provide a user with additional or enhanced information
which can reduce operator mistakes, communicate processed sensor data
and improve human-robot collaboration
• AUGMENTED REALITY : AR interfaces display real world imagery
with synthetic object and indicator overly cues and aids
• This section focuses on monitor based AR Displays with computer
generated objects overlaid onto imagery as opposed to immerse
environments
. AUGMENTED VIRTUALITY : AV displays use virtual environments
augmented with real objects .
.Generating AV is more computationally intensive than AR, and the quality of
th virtuall environment reconstruction is primarily dependent on the quality of
sensor used in reconstruction
. Virtual Reality (VR)
.VR is an extrema on the reality-virtuality continuum where
the environment contains only virtual objects . A VR display
can improve situational awareness and partially compensate
for communication delays between the vehicle and operator,
especially in deep sea explorations
• STEREO VISION And DEPTH IMAGING
• Stereo vision is widely used in teleoperation and requires two cameras at
a fixed displacement to obtain two different scene views.
• Many studies found that stereo 3-D displays are beneficial and indicate
clear, positive performance benefits fo spatiall manipulations compared
to monoscopic displays. In particular, stereovision is beneficial for aiding
in end-effecto positioningg in a remote workspace.
THANK YOU