{"id":"https://openalex.org/W1509581239","doi":"https://doi.org/10.1109/civemsa.2015.7158613","title":"Perceived mental workload and operator performance of dexterous manipulators under time delay with master-slave interfaces","display_name":"Perceived mental workload and operator performance of dexterous manipulators under time delay with master-slave interfaces","publication_year":2015,"publication_date":"2015-06-01","ids":{"openalex":"https://openalex.org/W1509581239","doi":"https://doi.org/10.1109/civemsa.2015.7158613","mag":"1509581239"},"language":"en","primary_location":{"id":"doi:10.1109/civemsa.2015.7158613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/civemsa.2015.7158613","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051392934","display_name":"Daniel Cannon","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Daniel Cannon","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, USA","Dept. of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080883897","display_name":"Mel Siegel","orcid":"https://orcid.org/0000-0003-0934-1584"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mel Siegel","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA","Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA#TAB#"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5051392934"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.924,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.7528419,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9700999855995178,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9300000071525574,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.6512218713760376},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6448073983192444},{"id":"https://openalex.org/keywords/joystick","display_name":"Joystick","score":0.5229052901268005},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5198307633399963},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5136892199516296},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5107686519622803},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4964635968208313},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.48944273591041565},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4653303027153015},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4538978934288025},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39790529012680054},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3465424180030823},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3391728401184082},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22592443227767944},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19579792022705078},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18620124459266663},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09587347507476807}],"concepts":[{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.6512218713760376},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6448073983192444},{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.5229052901268005},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5198307633399963},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5136892199516296},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5107686519622803},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4964635968208313},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48944273591041565},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4653303027153015},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4538978934288025},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39790529012680054},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3465424180030823},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3391728401184082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22592443227767944},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19579792022705078},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18620124459266663},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09587347507476807},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/civemsa.2015.7158613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/civemsa.2015.7158613","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W253500781","https://openalex.org/W1556795538","https://openalex.org/W1597447248","https://openalex.org/W1976788232","https://openalex.org/W2015221099","https://openalex.org/W2044362405","https://openalex.org/W2046528493","https://openalex.org/W2109609092","https://openalex.org/W2120087605","https://openalex.org/W2120338134","https://openalex.org/W2128111621","https://openalex.org/W2147828027","https://openalex.org/W2165764982","https://openalex.org/W2166753603","https://openalex.org/W2517666906","https://openalex.org/W2527404285","https://openalex.org/W2561111412","https://openalex.org/W2786952449","https://openalex.org/W4213099255","https://openalex.org/W4285719527","https://openalex.org/W6609622653","https://openalex.org/W6635729520","https://openalex.org/W6684110841","https://openalex.org/W6726606059","https://openalex.org/W6728008270","https://openalex.org/W6748740446"],"related_works":["https://openalex.org/W2011842837","https://openalex.org/W2094105667","https://openalex.org/W2277851728","https://openalex.org/W2097347938","https://openalex.org/W2788189673","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2046710269","https://openalex.org/W4311378573","https://openalex.org/W2477401734"],"abstract_inverted_index":{"Robotic":[0],"manipulators":[1,180],"that":[2,137],"use":[3,80],"joystick":[4],"interfaces":[5,42,250],"for":[6,19,251],"telemanipulation":[7],"take":[8],"time":[9,182,204],"and":[10,14,32,51,57,72,85,97,104,126,147,158,195,202,216,227,248],"effort":[11],"to":[12,89,167,211,239,244],"master":[13],"lack":[15,73],"an":[16],"intuitive":[17,56,249],"basis":[18],"human":[20],"robot":[21],"interaction.":[22],"These":[23],"factors":[24],"can":[25,83,101],"hamper":[26],"operator":[27,59],"performance,":[28,60],"increase":[29],"cognitive":[30,208],"workload,":[31],"limit":[33],"overall":[34],"user":[35,153,212],"effectiveness":[36],"on":[37,124,222],"highly":[38],"dexterous":[39,179,189,255],"tasks.":[40],"Master-slave":[41],"(MSIs)":[43],"used":[44,163],"in":[45,68,107],"the":[46,90,95,112,152,196,223],"fields":[47],"of":[48,178,188,254],"animatronics,":[49],"telesurgery,":[50],"hazardous":[52],"materials":[53],"handling":[54],"are":[55,62],"improve":[58],"but":[61],"limited":[63],"because":[64],"they":[65],"typically":[66],"operate":[67],"a":[69,116,132,164,186],"controlled":[70],"environment":[71],"robustness.":[74],"When":[75],"Master":[76],"Slave":[77],"(MS)":[78],"controllers":[79,130,172,194,242],"forcefeedback":[81,156],"errors":[82,105],"accumulate":[84],"create":[86],"instabilities":[87],"due":[88],"synchronous":[91],"bilateral":[92,113],"communication":[93,114],"between":[94],"remote":[96],"local":[98],"systems.":[99],"Instability":[100],"be":[102],"mitigated":[103],"reduced":[106],"these":[108],"systems":[109],"by":[110],"separating":[111],"into":[115],"dual-unilateral":[117],"(DU)":[118],"asynchronous":[119],"communication.":[120],"This":[121],"research":[122,235],"focused":[123],"comparing":[125],"analyzing":[127],"current":[128],"MSI":[129,141,171,241],"with":[131,154,175,192,207],"new":[133],"DU":[134],"control":[135,177,253],"method":[136],"reduces":[138],"or":[139],"eliminates":[140],"issues":[142],"such":[143],"as":[144],"latency,":[145],"error,":[146],"information":[148],"loss":[149],"while":[150],"providing":[151],"accurate":[155],"capability":[157],"transparency":[159],"during":[160],"operation.":[161],"It":[162],"simulation-based":[165],"approach":[166],"determine":[168],"which":[169],"selected":[170],"provide":[173,245],"users":[174],"robust":[176,247],"under":[181],"delay.":[183],"Users":[184],"performed":[185],"variety":[187],"force-feedback":[190],"tasks":[191],"different":[193],"study":[197],"measured":[198],"objective":[199],"task":[200,214],"performance":[201],"completion":[203],"success":[205],"along":[206],"workload":[209],"related":[210],"perceived":[213],"interaction":[215],"mental":[217],"demands":[218],"through":[219],"subjective":[220],"ratings":[221],"NASA":[224],"(National":[225],"Aeronautics":[226],"Space":[228],"Administration)":[229],"Task":[230],"Load":[231],"Index":[232],"(TLX).":[233],"The":[234],"findings":[236],"will":[237],"help":[238],"develop":[240],"designed":[243],"operators":[246],"low-level":[252],"manipulators.":[256]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}