南京信息工程大学学报Issue(3)：211-220,10.
力觉临场感遥操作机器人（4）：系统的操作性能评价
Force telepresence telerobot(4):Evaluation of operational performance
摘要
Abstract
The force telepresence telerobot system is a typical human-robot-environment-interaction system,and the telepresence is the core of teleoperation system.How to evaluate the operating performance or telepresence degree of a force telepresence teleoperation system is a basic problem.At present,the evaluation of the operating performance mainly uses the human�s subjective evaluation based on the ergonomics theory. In this paper, a two-port network model of the force telepresence teleoperation system is established, and the perception and control behavior of human operator in the telerobot system is analyzed. Then we give a definition of virtual impedance as a basis for quantitatively evaluating the operational performance of the telerobot systems, which is called impedance comparative method.At last,the operating performances of existing four types of telerobot systems based on different control structures are analyzed and evaluated by using the impedance comparative method.关键词
力觉临场感/遥操作机器人/操作性能/透明性/性能评价Key words
force telepresence/teleoperation/operational performance/transparency/performance evaluation分类
信息技术与安全科学引用本文复制引用
宋爱国,倪得晶..力觉临场感遥操作机器人（4）：系统的操作性能评价[J].南京信息工程大学学报,2014,(3):211-220,10.基金项目
国家杰出青年科学基金（61325018）；国家自然科学基金 （）
