A study was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real time based on hand shape, orientation, and movement. The DataGlove was used as an input device to control the Proto-Flight Manipulator Arm (PFMA), a large telerobotic arm with an 8-foot reach. Twelve volunteers (six males and six females) participated in a 2×3(×2) full-factorial experiment in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0,1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible) were manipulated. Gender served as a blocking variable. Retraction, insertion, and slew times, as well as total task time were collected as the dependent variables. An analysis of variance found a main effect of time delay for slewing and total task times. A post hoc Newman-Keuls pairwise comparison of the means was performed for the significant effects. Slew times with no time delay were significantly faster than slew times with either 1- or 2-second time delays. Total task time with no time delay was significantly faster than total task time with a 2-second time delay. PFMA wrist flexibility had no significant main effect on the ability of the subject to accurately and effectively operate the PFMA with the DataGlove. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface and should be considered in future trades in teleoperation systems' designs.
Impedance control of non-linear multi-DOF teleoperation systems with time delay: absolute stability