Helena Pongrac

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Internet-based telepresence and teleaction systems require packet-based transmission of haptic data and typically generate high packet rates between operator and teleoperator. This leads to the necessity of packet rate reduction techniques. The so-called deadband approach presented earlier by the authors uses a psychophysically motivated scheme based on(More)
High-frequency vibrations are an essential part of numerous manipulation tasks. A promising research area in particular are telemanipulation tasks where vibrations occurring in the remote environment are fed back through tactile displays. Two experiments concerning the perception of vibrations were conducted. The first experiment aims at determining whether(More)
In an ideal case telepresence achieves a state, where a human operator can no longer dierentiate between an interaction with a real environment or a technical mediated one. This state is called transparent telepresence. The applicability of telepresence to on-orbit servicing (OOS), i.e. an unmanned servicing operation in space, teleoperated from ground in(More)
The video shows a rich multi-modal multi-user telepresence system, which was developed within the SFB453 funded by the German Research Foundation (www.sfb453.de). As a complex application scenario, the remote repairing of a broken pipe is presented in this paper. The system basically consists of two operator-teleoperator- pairs. While one of the operators(More)
In a telemanipulation system a human operator controls a remotely located teleoperator by a human system interface. In this work the effects of varied human movement control on task performance and feeling of telepresence by using such systems are analyzed. While it is well known that humans are able to coordinate and integrate multiple degrees of freedom(More)
Foreword This thesis summarizes four years of my research carried out at the Institute of Automatic Control Engineering (LSR) of the Technische Universität München. Herewith, I would like to take the opportunity to thank all the people who supported me during this phase and helped me to successfully conclude this work. First of all, I would like to thank my(More)