控制域大小及障碍对遥操作者认知和操作的影响

Influence of Control Domain Size and Obstacles on Human Operator's Cognition and Operation in Teleoperation

目的探究虚拟机械臂遥操作实验环境中控制域大小和障碍对空间站遥操作中的人因的影响。方法构建了虚拟机械臂遥操作实验环境,首先对40名受试者进行认知能力测试,综合安排实验顺序以减少个体因素的影响,然后实验设置了不同的机械臂长(1.5 m,3.0 m,6.0 m,12.0 m)和有无障碍的环境,记录对接时间、修正距离和碰撞次数3项绩效指标,使用列联表进行处理和分析。结果控制域增加对于碰撞次数减少的效果在有障碍的情况下更显著,障碍对碰撞次数的影响随臂长增加而越来越小。此外,控制域大小对对接时间的影响对于空间认知能力低者比较敏感,有无障碍对修正距离的影响对于空间认知能力低者更敏感。结论增加控制域大小可以放大操作员对有无障碍物之间的认知差异,但可以减少障碍物环境中的碰撞。具有良好空间认知能力的操作人员更易受到控制域变化的影响,空间认知能力较差的操作人员更容易受到障碍的影响。

Objective To study the influence of control domain size（ CDS） and obstacles on human factors during virtual robotic arm teleoperation in space station. Methods A virtual environment for the docking task of robotic arm was established. Cognitive ability test and simulation teleoperation experiments were carried out in 40 subjects. Four CDS and two difficulties levels were utilized as the control variables. The experiment results were recorded and processed through contingency tables. Results The effect of increasing CDS on the reduction of collision frequency was more significant in the case of obstacles,and the effect of obstacles on collision number decreased with the increase of CDS. In addition,the influence of CDS on the docking time was more sensitive to those with low spatial cognition ability,and the effect of accessibility on modified distance was more sensitive to those with low spatial cognition ability. Conclusion Increasing CDS could magnify the operator＇s cognitive difference between with or without obstacles,however,the collisions in the obstacle environment could be reduced. Operators with good spatial cognitive ability were easily influenced by CDS and operators with poor spatial cognitive ability were easily influenced by obstacles.