Manipulation in Real, Virtual, and Remote Environments
3
P. Buttolo
D. Kung
B. Hannaford
Proceedings, IEEE International Conference on System, Man and Cybernetics, Vancouver BC, October 1995
1995 IEEE
http://brl.ee.washington.edu/BRL/publications/Rep096.pdf
In this paper we describe a novel experimental procedure for the
evaluation of a telemanipulator performance. A group of subjects
performed the same set of tasks directly on a physical setup, on a
virtual implementation capable of providing visual and force feedback
through an haptic display, and remotely on the real setup using a
telemanipulation system.  Using this experimental procedure we were
able to decouple the effects on the overall telemanipulator
performance introduced by the single components of the system, master
manipulator, display, slave manipulator and bilateral controller.