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OT7~ NAVAL POSTGRADUATE SCHOOL Monterey, California THESIS Finite Memory Model for Haptic Recognition by Philip G. Beierl December 1991 Thesis Afr^isor Morris R. Driels Approved for public release; distribution is unlimited. T257694 ) Unclassified SECURITY CLASSIFICATK )N Ol THIS PAG REPORT DOCUMENTATION PAGE la. REPORT SECURITY CLASSIFICATION II. RI S'IRICTIVI MARKINGS Unclassified SECURITY CLASSII RATION AUTHORITY 3. DISTRIBUTION' AVAILABILITY OI REPORT Approved forpublic release; distribution is unlimited. 2b. DCLASSIITCATTON.'DOWNGRADING SCHEDULE PERFORMING ORGANIZATION REPORT NUMBER(S) MONITORING ORGANIZATION REPORT NUMBER(S) 4. 6a. NAME OF PERFORMING ORGANIZATION 6b. OFFICESYMBOL 7a. NAMI 01 MONITORING ORGANIZATION Naval Postgraduate School (IfApplicable) Naval Postgraduate School 6c. ADDRESS(city, state, andZIPcode} 7b ADDRESS(city, state, andZIPcode) Monterey, CA 93943-5QOU Monterey, CA93943-5000 8a. NAMEOFFUNDING/SPONSORING 6b. OFFICESYMBOL PROCUREMENT INSTRUMENT IDENT1I K ATION NUMBER ORGANIZATION (IfApplicable) 8c ADDRESS(city; state, andZIPcode) 10. SOURCI Ol FUNDING NUMB! I-'S PROGRAM PROJEC TASK WORK UNIT ELEMENT NO. NO. NO. ACCESSION NO. 1. TITLE (Include Security Classification) FINITE MEMORY MODEL FOR HAPTIC RECOGNITION 12. PERSONAL AUTHOR(S Philip G. Beierl 13a. TYPEOFREPORT 13b TIME COVERED 14. DATEOF REPORT (year, month,day) 15. PAGE COUNT Master'sThesis FROM TO December 1991 82 16. SUPPLEMENTARY NOTATION The viewsexpressed in this thesis are those ofthe authoranddo not reflect the official policy or position ofthe Department of Defense orthe U.S. Government. p. COSATT CODES 18. SUBJECTTERMS(continue on reverse ifnecessaryandidentify by block number) EH D GROUP SUBGROUP I Haptic Perception Telepresence Memory 1 9. ABSTRACT(Continue on reverse ifnecessaryandidentify by blocknumber) This study attempts to model the process by which humans identify remote objects using a force reflecting telemanipulatorinorderto apply this understandingto future ROVdesignsemployingthe concept oftelepresence. A theoretical modelis proposed inwhichobject identification isdependent primarily uponfeature identificationandcapacity to rememberthe sequenceoffeatures. Acomputersimulationofthis model isconstructedand used to producetheoretical object identification performancewhichcanbecomparedtoactual humanperformance.Thecapacity forshort term memoryofasequence offeatures is alsostudied in a laboratory using a telemanipulator. 20. DISTRIBUTION/AVAILABILITY OF ABSTRACT 21. ABSTRACTSECURITY CLASSIFICATION D |X| UNCLASSIFIED/UNLIMITED SAMEAS Unclassified RPT. ' DTICUSERS 22a. NAMEOF RESPONSIBLE INDIVIDUAL 22b TELEPHONE (Include Area 22C. Office Symbol Morris R. Driels Code) ME/Dr (408)646-3383 DD FORM 1473,84MAR 83APReditionmaybeused untilexhausted SECURITY' CLASSIFICATION OF THIS PAGE Allothereditionsareobsolete Unclassified Approved for public release; distribution is unlimited. Finite Memory Model for Haptic Recognition by Philip G. Beierl Lieutenant Commander, United States Navy B.S., Massachusetts Institute of Technology, 1980 Submitted in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE IN MECHANICAL ENGINEERING from the NAVAL POSTGRADUATE SCHOOL December 1991 Anthony J^Healey, Chairman/ Department of Mechanical Engineering 11 ABSTRACT This study attempts to model the process by which humans identify remote objects ROV using a force-reflecting telemanipulator in order to apply this understanding to future A designs employing the concept of telepresence. theoretical model is proposed in which object identification is dependent primarily upon feature identification and capacity to remember the sequence of features. A computer simulation of this model is constructed and used to produce theoretical object identification performance which can be compared to actual human performance. The capacity for short term memory ofa sequence offeatures is also studied in a laboratory using a telemanipulator. in ..... .. TABLE OF CONTENTS INTRODUCTION I. 1 A. TELEPRESENCE AND THE NEXT GENERATION OF REMOTELY OPERATED VEHICLES (ROVS) 1 1 Current designs and sensory limitations 1 2 Telepresence 4 a. Visual and Auditory Sensing 4 b. Haptic Sensing 6 B. THE HAPTIC SYSTEM 7 1 Definition 7 2 Proprioception (Kinesthesis) 8 THEORY II. 10 A. RECOGNITIONTHEORIES 10 1. Gestalt 10 2. Scan Path 10 3 Haptic Perception 11 4. Sequential Haptic Probing 13 B. HAPTICRECOGNITION HYPOTHESIS (FINITE MEMORY MODEL). 14 .. 1 . Feature Identification 14 a Physiological Effects 16 b Mechanical Effects 16 (1) Friction 17 (2) Stiffness 17 (3) End Effector Size 18 IV