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Ergonomically Optimal and Adaptable Placement of User-Side Devices for a Visuo-Haptic Teleoperation Console
We are developing a teleoperated micro-assembly system to assemble mechatronic prototype devices. Its user interface consists of a number of different devices, including both off-the-shelf and custom input and output devices. Currently, all of these devices have been placed solely based on prior experiences and common best practices and have been fixed provisionally to fit the developers’ needs. Quick adaptation of device positions and orientations would be of great benefit when conducting studies involving a larger number of different users, as the placement of user-side devices has been shown to influence teleoperation performance. Your task would be to define requirements for such an adaptable user console based on the given application, to build a modular console framework, to develop a framework adaptation procedure, and to validate your design in a small proof-of-concept study.
In the scope of an ongoing research project, we are developing a teleoperated micro-assembly system to assemble mechatronic prototype devices. This system combines a robotic assembly station with a visuo-haptic user interface, providing haptic feedback to the user for a more intuitive interaction. This interface consists of a number of different devices, such as several off-the-shelf and custom haptic input devices, pedals, a monitor, and a head-mounted display (HMD) with optical tracking stations. Currently, all of these devices have been placed solely based on prior experiences and common best practices and have been fixed provisionally to fit the developers’ needs. Thus, it is cumbersome to quickly adapt the user console to other users’ anatomies to ensure better ergonomics. Quick adaptation would be of great benefit when conducting studies involving a larger number of different users, as the placement of user-side devices has been shown to influence teleoperation performance.
In the scope of an ongoing research project, we are developing a teleoperated micro-assembly system to assemble mechatronic prototype devices. This system combines a robotic assembly station with a visuo-haptic user interface, providing haptic feedback to the user for a more intuitive interaction. This interface consists of a number of different devices, such as several off-the-shelf and custom haptic input devices, pedals, a monitor, and a head-mounted display (HMD) with optical tracking stations. Currently, all of these devices have been placed solely based on prior experiences and common best practices and have been fixed provisionally to fit the developers’ needs. Thus, it is cumbersome to quickly adapt the user console to other users’ anatomies to ensure better ergonomics. Quick adaptation would be of great benefit when conducting studies involving a larger number of different users, as the placement of user-side devices has been shown to influence teleoperation performance.
Based on the given micro-assembly application and further potential applications for the user console, it shall be investigated which user-side devices are required for which specific tasks. Then, it shall be analyzed which parts of the user’s anatomy will influence the optimal device placement and which device positions and orientations need to be adaptable. Typical ranges for the relevant anatomical dimensions of potential users shall be identified from literature. A functional prototype of a modular framework housing all required user-side devices needs to be designed and manufactured. A procedure shall be defined for fast and easy adaptation of the device placement to a new user and/or application, without the need for time-consuming trial-and-error placements. Finally, your proposed framework and adaptation procedure shall be evaluated in a small proof-of-concept study.
Based on the given micro-assembly application and further potential applications for the user console, it shall be investigated which user-side devices are required for which specific tasks. Then, it shall be analyzed which parts of the user’s anatomy will influence the optimal device placement and which device positions and orientations need to be adaptable. Typical ranges for the relevant anatomical dimensions of potential users shall be identified from literature. A functional prototype of a modular framework housing all required user-side devices needs to be designed and manufactured. A procedure shall be defined for fast and easy adaptation of the device placement to a new user and/or application, without the need for time-consuming trial-and-error placements. Finally, your proposed framework and adaptation procedure shall be evaluated in a small proof-of-concept study.
Cédric Duverney
cedric.duverney@unibas.ch
BIROMED-Lab
Department of Biomedical Engineering
University of Basel
Gewerbestrasse 14
4123 Allschwil BL
Switzerland
Cédric Duverney cedric.duverney@unibas.ch BIROMED-Lab Department of Biomedical Engineering University of Basel Gewerbestrasse 14 4123 Allschwil BL Switzerland