<title>Utility of whole-hand input</title>

Abstract

Using a design method for whole-hand input developed by the authors, the teleoperation of a six-legged mobile robot with manipulator arms has been simulated. Evaluations of three different control structures compare performance between conventional input, exemplified by a set of dials, and whole-hand input using a VPL DataGlove. The evaluations reveal a range of appropriate use of whole-hand input compared to conventional input. In the first example, whole-hand input is superior, in the second, whole-hand input provides performance on par with conventional devices, and in the last, whole-hand input is inferior to conventional devices.