The Functional Rotational Workspace of a Human-Robot System can be Influenced by Adjusting the Telemanipulator Handle Orientation

The handle design of telemanipulation master devices has not been extensively studied so far. However, the device is an integral part robotic system through which user interacts with system. Previous work showed that size and shape functional rotational workspace human-robot its usability are influenced by handle. Still, in certain situations, e.g., due to preference, a specific grasp type might be desired. Therefore, this article, we provide systematic approach on how assess adjust We investigated two exemplary handles different mounting orientations for each results adapting orientation home configuration telemanipulator, can adjusted systematically cover more mechanical device. Finally, deduct recommendations choose telemanipulator