Ergonomic mouse based interface for 3D orientation control of a tele-sonography robot

Fabien Courrèges (1) , Ankur Edkie , Gérard Poisson (2) , Pierre Vieyres (3)

1 DMI
2 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]
3 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique

This paper proposes a new ergonomic frame to describe the attitude of a robot arm and to be used for human-machine interface in telerobotic with application to telesonography. A three part psychophysical analysis enabled us to design this new system of angles exhibiting a good decorrelation among its degrees of freedom. A decorrelation improvement of up to 83% can be noticed compare to the standard 3-1-3 Euler angles. This new frame has been exploited to conceive human-machine interface with a low cost input device such as the standard IT mouse. Psychophysical results show indisputable superiority of our new system compare to the standard Euler one for orientation tracking in teleoperation conditions.

Domaines: Automatique / Robotique

Fabien Courrèges, Ankur Edkie, Gérard Poisson, Pierre Vieyres. Ergonomic mouse based interface for 3D orientation control of a tele-sonography robot. International Conference on Intelligent Robots and Systems, IROS 2009. IEEE/RSJ, Oct 2009, St Louis, United States. pp.61 - 66, ⟨10.1109/IROS.2009.5354366⟩. ⟨hal-00647581⟩