Luis Miguel Muñoz

Motor-Model-Based Dynamic Scaling in Human–Computer Interfaces

This paper presents a study on how the application of scaling techniques to an interface affects its performance. A progressive scaling factor based on the position and velocity of the cursor and the targets improves the efficiency of an interface, thereby reducing the users workload. The study uses several human-motor models to interpret human intention and thus contribute to defining and adapting the scaling parameters to the execution of the task. Two techniques addressed to vary the control-display ratio are compared, and a new method for aiding in the task of steering is proposed.

Workspace deformation based teleoperation for the increase of movement precision

Teleoperation makes possible the execution of many tasks, that otherwise are not feasible when a human operator can not access to the working area due to dangerousness or environmental conditions, and it is not possible as well, to program the task so as to be performed autonomously, due to its complexity. Nevertheless, manipulation tasks require certain ability from the human operator due to the difficulties that produce the need to operate through control devices that does not fit with the structure of the slave arms. With the aim of increasing the precision capabilities provided by such control interfaces, a vision based procedure designed to deform the space around the working point has been developed. The vision system operates from the detection of the relevant scene elements. This space deformation produces automatically a progressive increase in precision when the robot arm approaches the relevant detected elements.

Improved AFM Scanning Methodology with Adaptation to the Target Shape

This paper presents a manipulation and measurement aid for tasks carried out in micro-nano environments operating with scanning AFM. In teleoperated manipulation or measurement over a given point of the target, where a slow and precise movement is necessary, the developed system increases the accuracy in this point producing a space deformation. In automatic scanning, the adjusted selection of the target, through assisted image segmentation, enables to reduce the working time.

Dynamic scaling interface for assisted teleoperation

Teleoperation, by adequately adapting computer interfaces, can benefit from the knowledge on human factors and psychomotor models in order to improve the effectiveness and efficiency in the execution of a task. While scaling is one of the performances frequently used in teleoperation tasks that require high precision, such as surgery, this article presents a scaling method that considers the system dynamics as well. The proposed dynamic scaling factor depends on the apparent position and velocity of the robot and targets. Such scaling improves the performance of teleoperation interfaces, thereby reducing users workload.

Scale dynamic adaptation of the local space for assisted teleoperation

Teleoperation solves several difficulties that current robots can not overcome. The intervention of a human operator in deciding the strategies required to perform some given tasks allows robots to carry out operations in dangerous environments or in areas inaccessible to humans. Despite such task becomes feasible, it is necessary to use methods that assist the operator in its manipulation. This paper describes a method for assisting teleoperation, which is based on the dynamic variation of the scale of the working space to improve the movement precision near the point of interest.

Design and Development of a Guideline for Ergonomic Haptic Interaction

The main goal of this chapter is to propose a guideline for human-robot systems focused on ergonomic haptic interaction. With this aim, this model presents several main parts: a set of heuristic indicators in order to identify the attributes of the haptic interaction, the relationship between indicators, the human task and the haptic interface requirements and finally an experimental task procedure and a qualitative performance evaluation metrics in the use of haptic interfaces. The final goal of this work is the study of possible applications of haptics in regular laboratory conditions, in order to improve the analysis, design and evaluation of human task over haptic interfaces in telerobotic applications.

Improving the Performance of Input Interfaces Through Scaling and Human Motor Models

The performance of interfaces is affected by human factors, which vary from one person to another, and by the inherent characteristics of the various devices involved. A set of techniques has been studied in order to improve the efficiency and efficacy of input interface devices. These techniques are based on the modification of the motor scaling factor, a transformation similar to the known Control-Display ratio (CD ratio). Operation time, the accuracy of the task and user workload are the indicators used in this work. By means of models based on the various human motor behaviors, the improvement of such indicators has been demonstrated. Using some common input interface devices, a number of experiments have been carried out to evaluate the presented methodology. The results show that the overall performance of input interfaces is significantly improved by applying such methodology.

Interface Design of Haptic Feedback on Teleoperated System.

The use of teleoperation systems can provide substantial advantages in various fields such as remote explosive dismantling and rescue operations, as well as improve the accuracy on certain tasks like surgery. These systems offer feedback mainly based on visual information of the task performed showing relevant data of the systems used as well as their surroundings. Our proposal involves the use of haptic devices to remotely control a robot in order for the user to receive haptic feedback alongside the visual information. In a first design that several experts evaluated, it was concluded that the interface used had to be substantially improved. This communication describes the process developed to design and evaluate an interface to improve user interaction with the teleoperation system.

The Visual Flow and the Interaction with Computers

Humans have a limitation in the information flow that can process. This article sumarizes the main biological sources of this limitation and make some reflexions over the impact on the interaction with computers in order to prevent an ergonomic design.