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Progressive haptic guidance for a dynamic task in a virtual training environment.

机译：虚拟训练环境中动态任务的逐步触觉指导。

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摘要

This thesis presents the motivation for and implementation of a novel progressive haptic guidance scheme designed to improve the efficiency of a virtual training environment used for skill acquisition. A detailed expertise-based analysis of the dynamic human motor task identifies the key skills required for success and motivates the progressive haptic guidance scheme. The thesis compares the effectiveness of the scheme to similar visual guidance, written guidance and no-guidance. The experimental training protocol presents a target-hitting training task in a virtual environment that utilizes an LCD display for visual feedback and a force feedback joystick for haptic interactions. This protocol lasts eleven sessions over a two-month period, thereby ensuring the performance saturation of participants. During each session, the number of target hits obtained becomes the objective measure of performance. Two additional measures, trajectory error and input frequency, are defined and implemented to calculate the performance of participants in two key skills. The guidance scheme then employs these last two measures as gain inputs to the guidance controller, which in turn progressively diminishes the forces that display guidance as virtual walls. The haptic controller design initially restricts a participant's motion to a preferred task path, but increased performance results in decreased guidance from one trial to the next. In addition to these measures, the protocol also presents the computerized version of the NASA Task Load Index (TLX) to all participants at each session, thereby providing cognitive workload measurements throughout the entire training period. The results demonstrate that this progressive haptic guidance scheme, one that integrates key skills and measures of performance, significantly outperforms three other guidance modes early on in the training and only when guidance is active. The data failed to show whether the haptic guidance scheme has significantly higher performance when the guidance is inactive. This scheme also generates less frustration and mental workload than visual guidance. Possible applications for these findings include virtual training environments designed for surgery and rehabilitation.
机译：本文提出了一种新颖的渐进式触觉指导方案的动机和实现，该方案旨在提高用于技能获取的虚拟培训环境的效率。基于详细专业知识的动态人体运动任务分析可确定成功所需的关键技能，并激励渐进式触觉指导方案。本文比较了该方案与类似的视觉指导，书面指导和无指导的有效性。实验训练协议在虚拟环境中提出了击中目标的训练任务，该环境利用LCD显示器进行视觉反馈，并使用力反馈操纵杆进行触觉交互。该协议在两个月的时间内持续11个会话，从而确保参与者的表现饱和。在每个会话期间，获得的目标命中次数将成为衡量效果的客观指标。定义并实施了另外两个度量，即轨迹误差和输入频率，以计算两个关键技能中参与者的表现。然后，制导方案将后两个措施用作制导控制器的增益输入，这反过来逐渐减小将制导显示为虚拟墙的力。触觉控制器设计最初将参与者的动作限制在首选任务路径上，但提高的性能会导致从一个试验到下一个试验的指导减少。除了这些措施之外，该协议还向每次会议的所有参与者提供了NASA任务负荷指数（TLX）的计算机版本，从而在整个培训期间提供了认知工作量的测量。结果表明，这种渐进式触觉指导方案是一种集成了关键技能和绩效衡量指标的方案，在训练初期和仅在进行指导时才明显优于其他三种指导模式。数据无法显示当引导不活动时，触觉引导方案是否具有明显更高的性能。与视觉指导相比，该方案产生的挫败感和精神工作量也更少。这些发现的可能应用包括为手术和康复而设计的虚拟培训环境。

著录项

  • 作者

    Huegel, Joel Carlos.;

  • 作者单位

    Rice University.;

  • 授予单位 Rice University.;
  • 学科 Engineering Mechanical.;Engineering Robotics.
  • 学位 Ph.D.
  • 年度 2009
  • 页码 182 p.
  • 总页数 182
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械、仪表工业;
  • 关键词

  • 入库时间 2022-08-17 11:38:29

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