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首页> 外文会议>AIAA Modeling and Simulation Technologies Conference 2017 >Objective Inceptor Cueing Test for Control Loading Systems: Principle and Initial Design
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Objective Inceptor Cueing Test for Control Loading Systems: Principle and Initial Design

机译：控制加载系统的客观感受器提示测试：原理和初始设计

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摘要

Control loading devices are currently certified on the basis of tests on their mechanical properties, the criteria for these properties are not related to humans' ability to discriminate these properties. We propose the Objective Inceptor Cueing Test, a new design for control loading device evaluation based on humans' haptic percept limits (the Just Noticeable Difference (JND)). To this end we quantify the JND as a frequency response function (FRF). We consider the system to be excited by a sinusoidal motion input. A manipulator's FRF at the frequency of excitation can be considered as a complex-valued number, and JNDs respectively in its magnitude, phase angle, real and imaginary parts were obtained from seven human subjects. A model published previously was extended with these results to formulate an OICT perceptual fidelity region. With an admittance control protocol, our control loading device could be evaluated by the fidelity region formulation independently of the reference manipulator dynamics. Results showed that the device could preserve the original haptic perception of any stability-allowable manipulator dynamics up to 11 rad/s.
机译：目前，控制加载设备已根据其机械性能的测试获得认证，这些性能的标准与人类区分这些性能的能力无关。我们提出了“目标感受器提示测试”，这是一种基于人类触觉感知极限（正当注意差异（JND））的控制加载设备评估的新设计。为此，我们将JND量化为频率响应函数（FRF）。我们认为系统是由正弦运动输入激励的。机械手在激发频率下的FRF可以看作是复数值，并且从7个人类受试者获得JND的大小，相角，实部和虚部。利用这些结果扩展了先前发布的模型，以制定OICT感知保真度区域。使用导纳控制协议，我们的控制加载设备可以通过保真度区域公式进行评估，而与参考操纵器动力学无关。结果表明，该设备可以保留高达11 rad / s的任何稳定性允许的机械手动力学的原始触觉感知。

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