SUMMARY

Human-machine interfaces influence both operator effectiveness and machine efficiency. Further immersion of the operator into working environment of the machine gives the operator a better feel for the status of the machine and its working conditions. With this knowledge, an operator can more efficiently control a machine. The use of multi-modal human-machine interfaces involving haptics, sound, and visual feedback can immerse the operator into the machine’s environment and provide assistive clues about the state of the machine. Human-machine interfaces can also improve efficiency and effectiveness by better matching human abilities to task demands. Excavators and other multi-degree of freedom devices have non-intuitive kinematics that require extensive operator training and experience to perfect. Coordinated control schemes create more intuitive interfaces that reduce training time and allow for better end-effector control. Two coordinated control schemes are developed for a mini-excavator, and tested for increases in operator effectiveness and machine efficiency. A testbed is developed that mimics a mini-excavator’s dynamics during digging tasks. Force feedback is applied to both of the coordinated control schemes and the effectiveness and efficiency increases are measured again.