The Effect of Automated Compensation for Incongruent Axes on Teleoperator Performance

Abstract

Teleoperation is frequently performed with misalignments between operator or camera viewing direction and controller orientation. Examples of this occur in endoscopic surgery and in teleoperation with multiple camera views. The objective of this study was to find a method to automatically compensate for those misalignments so that human operators performing tasks under such scenarios could achieve levels of performance comparable to aligned conditions without additional training requirements. In this paper we report on a set of experiments conducted to test a method developed for that purpose. Participants were asked to track a randomly moving target on a computer display using a cursor controlled with a joystick. Performance was recorded under various visual-motor misalignments with and without automated compensation. Results indicated significant improvements in operator performance through use of automatic compensation only under certain types of misalignment. Actual or potential applications of this research include teleoperation and endoscopic surgery.