# PWR-213 — Fine-motor teleoperation: learner worksheet Release: Revision 7T · Full Tutorial Edition Estimated time: Estimated 13 min reading; practical time is provider-set Difficulty: Intermediate Equipment: Specialist equipment — Declared Fine-motor teleoperation fixture: A teleoperation simulator moves a virtual peg into a wide socket. If approved hardware is used, the peg is foam, the workspace is enclosed and force/speed limits are active.; Setup aid for Inspect local and remote sides: Test neutral, directions, latency, limits, emergency stop, logs and remote-zone clearance.; Fine-motor teleoperation log: Accuracy, force error, time, collisions, workload, latency/failure recovery and unaided/assisted conditions versus direct control; retain Fine-motor teleoperation errors, assistance, stop and fallback.; Teleoperation source table: from “Shared control of a medical robot with haptic guidance”, record task, haptic assistance, operator input, error and force measures. From “Assistive Robotic Manipulation through Shared Autonomy and a Body-Machine Interface”, record user interface, autonomy role, task and support. Use the NIST Privacy Framework for control traces; the engineering supervisor owns latency and force limits. Space: Room-scale practice space Automated structural checklist: 10 of 10 structural checks present Evidence quality/context: G4; Detailed research depth Automated method-quality band: Comprehensive Method-rating basis: Structure coverage, instruction/check specificity, alternative distinctness, source troubleshooting, comparison depth and whether purpose/check fields are authored rather than derived. Editorial review: Pending manual editorial sign off ## Before you begin - [ ] I read the tutorial authority and stop conditions. - [ ] I have the required equipment/space or a declared accessible alternative. ## Canonical source context A supervised teleoperation simulator moves a virtual peg into a wide socket under declared gain, latency and force limits. The learner progresses from gross alignment to fine placement, responds to a delay change and returns safely after link loss. One constrained placement is not evidence of surgical, industrial or unrestricted teleoperation skill. Target outcome: With an engineering supervisor, the learner calibrates controls, practises gross then fine positioning, completes a constrained placement and returns safely after a staged link failure. ### Authority and setup conditions - Use an approved simulator or enclosed inert hardware with qualified supervision. - Test neutral, directions, latency, limits, emergency stop, logs and remote-zone clearance. - Start check for Fine-motor teleoperation: The envelope and failure triggers are written before control. - Top-of-sheet stop for Fine-motor teleoperation: Stop for controller drift, reversed axis, latency above threshold, link loss, frozen view, log failure or unexpected remote person/object. ### Required or supplied materials - Declared Fine-motor teleoperation fixture: A teleoperation simulator moves a virtual peg into a wide socket. If approved hardware is used, the peg is foam, the workspace is enclosed and force/speed limits are active. - Setup aid for Inspect local and remote sides: Test neutral, directions, latency, limits, emergency stop, logs and remote-zone clearance. - Fine-motor teleoperation log: Accuracy, force error, time, collisions, workload, latency/failure recovery and unaided/assisted conditions versus direct control; retain Fine-motor teleoperation errors, assistance, stop and fallback. - Teleoperation source table: from “Shared control of a medical robot with haptic guidance”, record task, haptic assistance, operator input, error and force measures. From “Assistive Robotic Manipulation through Shared Autonomy and a Body-Machine Interface”, record user interface, autonomy role, task and support. Use the NIST Privacy Framework for control traces; the engineering supervisor owns latency and force limits. ## 1. Define task and limits The supervisor sets peg, socket, motion scale, speed, force, collision threshold, latency ceiling and safe home pose. Why: The envelope and failure triggers are written before control. Success check: The envelope and failure triggers are written before control. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “The envelope and failure triggers are written before control.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 2. Inspect local and remote sides Check controller neutral, camera views, network, logs, stop, enclosure and absence of people in the remote zone. Why: Both ends report ready and emergency stop works. Success check: Both ends report ready and emergency stop works. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “Both ends report ready and emergency stop works.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 3. Measure latency Send a test movement and record command-to-view delay; do not start if it exceeds the protocol threshold. Why: Current latency is visible to the learner. Success check: Current latency is visible to the learner. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “Current latency is visible to the learner.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 4. Calibrate direction and scale Move one axis at a time at low gain, return to neutral and confirm that displayed and remote direction match. Why: No axis is reversed and neutral produces no drift. Success check: No axis is reversed and neutral produces no drift. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “No axis is reversed and neutral produces no drift.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 5. Practise gross positioning Move to a marked approach box without touching the socket; stop and re-centre between trials. Why: Approach succeeds within the collision limit. Success check: Approach succeeds within the collision limit. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “Approach succeeds within the collision limit.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 6. Perform fine placement Reduce gain, align the peg, advance in small increments and stop on unexpected resistance rather than adding force. Why: Peg enters the socket within endpoint and force criteria. Success check: Peg enters the socket within endpoint and force criteria. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “Peg enters the socket within endpoint and force criteria.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 7. Handle link loss On the staged freeze, release the controller, invoke stop and wait for the remote-side confirmation before any recovery command. Why: The device remains or returns to the declared safe state. Success check: The device remains or returns to the declared safe state. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “The device remains or returns to the declared safe state.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 8. Compare and debrief Record endpoint error, time, corrections, collisions, force, workload and recovery versus direct or unaided simulation; supervisor decides progression. Why: Accuracy is not reported without latency and failure recovery. Success check: Accuracy is not reported without latency and failure recovery. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “Accuracy is not reported without latency and failure recovery.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## Reflection What changed? ________________________________________________________________________________ What remains difficult? ________________________________________________________________________________ What will I repeat, adapt, ask for help with, or stop? ________________________________________________________________________________ --- Completion of this worksheet demonstrates tutorial participation only. It does not establish capability, qualification, safety clearance, diagnosis, treatment or independent validation.