Finite memory model for haptic recognition.

92 Pages·1.4 MB·en_US

by  Beierl, Philip G.;Driels, Morris R.

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NAVAL POSTGRADUATE SCHOOL
Monterey, California
THESIS
Finite Memory Model for Haptic Recognition
by
Philip G. Beierl
December 1991
Thesis Afr^isor Morris R. Driels
Approved for public release; distribution is unlimited.
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Monterey, CA 93943-5QOU Monterey, CA93943-5000
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1. TITLE (Include Security Classification)
FINITE MEMORY MODEL FOR HAPTIC RECOGNITION
12. PERSONAL AUTHOR(S
Philip G. Beierl
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Master'sThesis FROM TO December 1991 82
16. SUPPLEMENTARY NOTATION
The viewsexpressed in this thesis are those ofthe authoranddo not reflect the official policy or position ofthe Department of
Defense orthe U.S. Government.
p. COSATT CODES 18. SUBJECTTERMS(continue on reverse ifnecessaryandidentify by block number)
EH D GROUP SUBGROUP
I Haptic Perception
Telepresence Memory
1 9. ABSTRACT(Continue on reverse ifnecessaryandidentify by blocknumber)
This study attempts to model the process by which humans identify remote objects using a force reflecting
telemanipulatorinorderto apply this understandingto future ROVdesignsemployingthe concept oftelepresence. A theoretical
modelis proposed inwhichobject identification isdependent primarily uponfeature identificationandcapacity to rememberthe
sequenceoffeatures. Acomputersimulationofthis model isconstructedand used to producetheoretical object identification
performancewhichcanbecomparedtoactual humanperformance.Thecapacity forshort term memoryofasequence offeatures
is alsostudied in a laboratory using a telemanipulator.
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Morris R. Driels Code) ME/Dr
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Approved for public release; distribution is unlimited.
Finite Memory Model for Haptic Recognition
by
Philip G. Beierl
Lieutenant Commander, United States Navy
B.S., Massachusetts Institute of Technology, 1980
Submitted in partial fulfillment of the
requirements for the degree of
MASTER OF SCIENCE IN MECHANICAL ENGINEERING
from the
NAVAL POSTGRADUATE SCHOOL
December 1991
Anthony J^Healey, Chairman/
Department of Mechanical Engineering
11
ABSTRACT
This study attempts to model the process by which humans identify remote objects
ROV
using a force-reflecting telemanipulator in order to apply this understanding to future
A
designs employing the concept of telepresence. theoretical model is proposed in which
object identification is dependent primarily upon feature identification and capacity to
remember the sequence of features. A computer simulation of this model is constructed
and used to produce theoretical object identification performance which can be compared to
actual human performance. The capacity for short term memory ofa sequence offeatures is
also studied in a laboratory using a telemanipulator.
in
..... ..
TABLE OF CONTENTS
INTRODUCTION
I. 1
A. TELEPRESENCE AND THE NEXT GENERATION OF REMOTELY
OPERATED VEHICLES (ROVS)
1
1 Current designs and sensory limitations 1
2 Telepresence 4
a. Visual and Auditory Sensing 4
b. Haptic Sensing 6
B. THE HAPTIC SYSTEM 7
1 Definition 7
2 Proprioception (Kinesthesis) 8
THEORY
II. 10
A. RECOGNITIONTHEORIES 10
1. Gestalt 10
2. Scan Path 10
3 Haptic Perception 11
4. Sequential Haptic Probing 13
B. HAPTICRECOGNITION HYPOTHESIS (FINITE MEMORY MODEL). 14
..
1 . Feature Identification 14
a Physiological Effects 16
b Mechanical Effects 16
(1) Friction 17
(2) Stiffness 17
(3) End Effector Size 18
IV