Human-robot collaboration is a vital part of teleoperation systems. Determining the design parameters satisfying the optimal human performance is very important in the design of a teleoperation system for a specific task. Specifically, to thoroughly represent human performance for a task, multiple performance measures in a teleoperation system are evaluated. The experiment was also conducted on a mixed-reality tele-sandblasting system which is setup to study 2D-motion translation in tele-sandblasting task. Then, identifying the design setting to satisfy the optimal measures are difficult due to conflicts among them. Therefore, this paper presents a multiple-performance optimization using a desirability function.The results provide the range of setting condition promoting the optimal human performance measures.
Multiple Performance Optimization forHuman-Robot Collaboration: a Translation Motion in a Tele-Sandblasting Maintenance System
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