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 master device handle is an integral part of the robotic system through which the user interacts with the system. Previous work showed that the size and shape of the functional rotational workspace of the human-robot system and its usability are influenced by the design of the master device handle. Still, in certain situations, e.g., due to user preference, a specific grasp type handle might be desired. Therefore, in this article, we provide a systematic approach on how to assess and adjust the functional rotational workspace of a human-robot system. We investigated the functional rotational workspace with two exemplary grasp type handles and two different mounting orientations for each handle. The results showed that by adapting the handle orientation in the home configuration of the telemanipulator, the functional rotational workspace of the human-robot system can be adjusted systematically to cover more of the mechanical workspace of the master device. Finally, we deduct recommendations on how to choose and adjust a telemanipulator handle.