| This thesis presents an interface to provide obstacle detection cues through vibratory signals in order to aid the operator of a teleoperated mobile vehicle in understanding the remote environment. A vibrotactile cueing system, which transmits obstacle distances through relative vibration intensities in the operator chair was developed. A counterbalanced investigation was performed, where 12 human subjects performed a teleoperated mining-type task in two sessions. Each subject completed a session with visual feedback only and a session in which both visual and vibrotactile feedback conditions were present. Performance was measured as a function of errors and time along with subjective measures including the profile of mood states. This study demonstrates that the vibrotactile interface was marginally helpful in reducing operator collision errors. Subjects displayed improved learning rates with incremental exposure to feedback levels, however positive transfer was observed when vibrotactile feedback was removed. From subjective mood measures, it appears that vibratory cues have an effect of maintaining alertness when compared to the current, visual only system. Novelty effects were not examined. Overall, this study provides guidance to future work in usability studies of teleoperation user interfaces and human assistance systems. |
