A COMPARISON OF PERFORMANCE IN OPERATING THE CRL-8 MASTER SLAVE MANIPULATOR UNDER MONOCULAR AND BINOCULAR VIEWING CONDITIONS
Abstract
Four pieces of equipment were employed in this study: (1) a Central Research Laboratory, Model 8, masterslave manipulator, (2) a 12-hole formboard and 15 pegs, (3) two stopwatches, and (4) an eyepatch. The CRL-8 is a mechanical, remote manipulator that translates the operator's movements with a 1 to 1 correspondence and provides direct kinesthetic and proprioceptive feedback. The task consisted of placing pegs in the appropriate holes of a formboard. The pegs were circular, 3.8 cm in diameter and 1.9 cm thick. Performance times were recorded for six subjects on a simple remote handling task under two direct viewing conditions: binocular and monocular. All subjects performed under both conditions with counterbalancing between subjects and within subjects between sessions (I and II). The subjects used the masterslave manipulator to perform a shortened and revised version of the Placing Subtest of the Minnesota Rate of Manipulation Test. Performance times for the monocular viewing condition were 20% greater, exhibited greater variability, and reached an asymptotic level later.
Document Details
- Document Type
- Technical Report
- Publication Date
- Oct 01, 1964
- Accession Number
- AD0608791
Entities
People
- Gerald P. Chubb