Scalability of Robotic Controllers: An Evaluation of Controller Options-Experiment II

摘要

Abstract : This experiment was designed to investigate options for scaling robotic controllers for use by dismounted Soldiers. A touchscreen controller has the potential to be smaller and lighter than other controller devices because the display and controls are combined in one space. Soldiers performance using an Android touch-screen controller was compared with their performance using a baseline Xbox 360 joystick controller. Thirty Soldiers from the Officers Candidate School served as participants. Each Soldier completed outdoor and indoor driving courses using both controller types in counter-balanced order. Course completion times were significantly faster with the Xbox controller compared to the Android controller. In addition, there were significantly fewer driving errors and off-course errors with the Xbox controller. Total workload ratings were significantly lower for the Xbox than for the Android. Although the touch-screen controller can be used to teleoperate a robot, it has several shortcomings. The primary benefit of the touch-screen controller is its small size and light weight. However, the Android had substantial costs in terms of speed, accuracy, and workload associated with teleoperation. Touchscreen performance might be improved by incorporating haptic or auditory feedback and by recalibrating some functions such as modifying top speed, turning rate, and acceleration.