空间立体信息缺失对机械臂遥操作任务的影响

视觉作为人认知环境的主要信息通道,在空间遥操作任务中有极其重要的作用。本研究面向空间站机械臂遥操作任务,通过对24名被试进行机械臂遥操作模拟平台实验,探索不同程度空间立体信息缺失对机械臂遥操作绩效、脑力负荷、距离感知和情境意识的影响,剖析不同立体信息在遥操作过程中的作用。实验结果表明:局部立体信息对提高遥操作任务完成率、减少撞击操作等指标有重要作用;而全局立体信息更有利于减少机械臂冗余行走距离和限位操作次数;两者对脑力负荷水平的降低有显著影响,而对距离估计偏差和情境意识水平影响不显著。因此,根据不同任务类型选取合适的立体信息补偿,从多个角度完善立体信息的呈现对于保障遥操作任务的顺利进行具有重要意义。

Influence of loss of three-dimensional information on manipulator teleoperation mission

As the main information channel via that human cognitive environment, visual information plays an extremely important role in the space teleoperation mission. Aimed at the future station robotics teleoperation mission, twenty four subjects were recruited to finish the simulation task, so as to investigate the effect of different extent of three-dimensional information loss on human performance, mental workload, distance perception and situation awareness, and to study the role of spatial information in teleoperation. The results show that the local stereo information plays an important role in improving the completion rate and reducing collision of the teleoperation mission; the global spatial information are more advantageous to reduce redundant flying distance and the times of limit operation; both the two kinds of information have a significant influence on reducing mental load level, but have few effect on distance estimation error and situation awareness level. Therefore, it is important to select the suitable stereo information compensation type according to the tasks and to optimize the stereo information display with various methods for completing teleoperation task smoothly.