Design of the human computer interface on the telerobotic small emplacement excavator

The telerobotic small emplacement excavator (TSEE) was developed by the Oak Ridge National Laboratory in a project funded jointly by the U.S. Army and the Department of Energy. The TSEE features teleoperated driving, a telerobotic backhoe with four degrees-of-freedom, and a teleoperated front loader with two degrees-of-freedom on the bucket. Remote capabilities include driving (forward, reverse, brake, steering), power takeoff shifting to enable digging modes, deploying stabilizers, excavation and computer system booting. The system is operated with an intuitive hand controller at a remotely located portable, suitcase-size base station, or can be operated manually using a customized electromechanical actuator package to replace the conventional mechanical levers and foot pedals. The overall goals of the project were to develop a robust telerobotic control system that could be retrofitted to an existing military vehicle. The control system must provide sufficient dexterity so that operations can be carried out safely. The control system must also provide a Human Computer Interface (HCI) that enhances the operator ability to carry out remote excavation. This paper will describe the design of the HCI and control system in relation to the human factors goals, discuss the demonstrations that have been conducted, and summarize results of the performance evaluations.