ABSTRACT
A visual display system serves as an important human/machine interface for efficient teleoperations. However, careful consideration is necessary to display three-dimensional information on a two-dimensional screen effectively. A teleoperation simulator is constructed with a vector-display system, joysticks, and a simulated cylindrical manipulator in order to evaluate various display conditions quantitatively. Pick-and-place tasks are performed, and mean completion times are used as a performance measure. Two experiments are performed. First, effects of variation of perspective parameters on a human operator’s pick-and-place performance with monoscopic perspective display are investigated. Then, visual enhancements of monoscopic perspective display by adding a grid and reference lines are investigated and compared with visual enhancements of stereoscopic display. The results indicate that stereoscopic display does generally permit superior pick-and-place performance, while monoscopic display can allow equivalent performance when it is defined with appropriate perspective parameter values and provided with adequate visual enhancements. Mean-completion-time results of pick-andplace experiments for various display conditions shown in this paper are observed to be quite similar to normalized root-mean-square error results of manual tracking experiments reported previously.
