Relevant bibliographies by topics / Teleoperation, haptic devices, robotic

Academic literature on the topic 'Teleoperation, haptic devices, robotic'

Author: Grafiati
Published: 10 December 2022
Last updated: 28 January 2023

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles

Select a source type:

Contents

Consult the lists of relevant articles, books, theses, conference reports, and other scholarly sources on the topic 'Teleoperation, haptic devices, robotic.'

Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.

You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.

Journal articles on the topic "Teleoperation, haptic devices, robotic"

1

Liu, Guan-Yang, Yi Wang, Chao Huang, Chen Guan, Dong-Tao Ma, Zhiming Wei, and Xinan Qiu. "Experimental Evaluation on Haptic Feedback Accuracy by Using Two Self-Made Haptic Devices and One Additional Interface in Robotic Teleoperation." Actuators 11, no. 1 (January 14, 2022): 24. http://dx.doi.org/10.3390/act11010024.

Full text
Abstract:
The goal of haptic feedback in robotic teleoperation is to enable users to accurately feel the interaction force measured at the slave side and precisely understand what is happening in the slave environment. The accuracy of the feedback force describing the error between the actual feedback force felt by a user at the master side and the measured interaction force at the slave side is the key performance indicator for haptic display in robotic teleoperation. In this paper, we evaluate the haptic feedback accuracy in robotic teleoperation via experimental method. A special interface iHandle and two haptic devices, iGrasp-T and iGrasp-R, designed for robotic teleoperation are developed for experimental evaluation. The device iHandle integrates a high-performance force sensor and a micro attitude and heading reference system which can be used to identify human upper limb motor abilities, such as posture maintenance and force application. When a user is asked to grasp the iHandle and maintain a fixed position and posture, the fluctuation value of hand posture is measured to be between 2 and 8 degrees. Based on the experimental results, human hand tremble as input noise sensed by the haptic device is found to be a major reason that results in the noise of output force from haptic device if the spring-damping model is used to render feedback force. Therefore, haptic rendering algorithms should be independent of hand motion information to avoid input noise from human hand to the haptic control loop in teleoperation. Moreover, the iHandle can be fixed at the end effector of haptic devices; iGrasp-T or iGrasp-R, to measure the output force/torque from iGrasp-T or iGrasp-Rand to the user. Experimental results show that the accuracy of the output force from haptic device iGrasp-T is approximately 0.92 N, and using the force sensor in the iHandle can compensate for the output force inaccuracy of device iGrasp-T to 0.1 N. Using a force sensor as the feedback link to form a closed-loop feedback force control system is an effective way to improve the accuracy of feedback force and guarantee high-fidelity of feedback forces at the master side in robotic teleoperation.
APA, Harvard, Vancouver, ISO, and other styles
2

Zhu, Guoniu, Xiao Xiao, Changsheng Li, Jin Ma, Godwin Ponraj, A. V. Prituja, and Hongliang Ren. "A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks." Applied Sciences 10, no. 6 (March 19, 2020): 2086. http://dx.doi.org/10.3390/app10062086.

Full text
Abstract:
Bimanual telemanipulation is vital for facilitating robots to complete complex and dexterous tasks that involve two handheld objects under teleoperation scenarios. However, the bimanual configuration introduces higher complexity, dynamics, and uncertainty, especially in those uncontrolled and unstructured environments, which require more advanced system integration. This paper presents a bimanual robotic teleoperation architecture with modular anthropomorphic hybrid grippers for the purpose of improving the telemanipulation capability under unstructured environments. Generally, there are two teleoperated subsystems within this architecture. The first one is the Leap Motion Controller and the anthropomorphic hybrid robotic grippers. Two 3D printed anthropomorphic hybrid robotic grippers with modular joints and soft layer augmentations are designed, fabricated, and equipped for telemanipulation tasks. A Leap Motion Controller is used to track the motion of two human hands, while each hand is utilized to teleoperate one robotic gripper. The second one is the haptic devices and the robotic arms. Two haptic devices are adopted as the master devices while each of them takes responsibility for one arm control. Based on such a framework, an average RMSE (root-mean-square-error) value of 0.0204 rad is obtained in joint tracking. Nine sign-language demonstrations and twelve object grasping tasks were conducted with the robotic gripper teleoperation. A challenging bimanual manipulation task for an object with 5.2 kg was well addressed using the integrated teleoperation system. Experimental results show that the proposed bimanual teleoperation system can effectively handle typical manipulation tasks, with excellent adaptabilities for a wide range of shapes, sizes, and weights, as well as grasping modes.
APA, Harvard, Vancouver, ISO, and other styles
3

Wang, Yang, Hui Wu, and Xiaoming Mai. "An Impedance-Control Based Teleoperation System for Live-Line Maintenance Robot." Journal of Physics: Conference Series 2025, no. 1 (September 1, 2021): 012080. http://dx.doi.org/10.1088/1742-6596/2025/1/012080.

Full text
Abstract:
Abstract Robotic operation is an effective way to upgrade the live-line maintenance safety, efficiency, and quality. This paper proposes an impedance control-based teleoperation system to improve the adaptability of live-line maintenance robot in outdoors environment. The key technology of this system is utilizing three virtual spring-damper systems to model the elastic connection between the end-effector of slave manipulator and the environment, between the end-effector of slave manipulator and the counterpart of master haptic device, and between the end-effector of master haptic device and its base, respectively. Experiment results show that, under control of our proposed teleoperation system, the slave manipulator is able to track the motion of master haptic device and the robot is able to complete a set of complex action to peel the coat off the cable.
APA, Harvard, Vancouver, ISO, and other styles
4

Cheung, Yushing, Jae H. Chung, and Daehie Hong. "Adaptive force reflecting teleoperation with local force compensators." Robotica 25, no. 4 (February 14, 2007): 433–44. http://dx.doi.org/10.1017/s0263574706003225.

Full text
Abstract:
SUMMARYThis paper addresses problems to achieve transparency and contact stability for teleoperation that consists of unconstrained and constrained motions. The adaptive bilateral control with a local force compensator is developed, based on adaptive impedance control and contact force driven compensation with auto-switching functions. Without any knowledge about robotic and environment dynamics and with a communication delay, the developed method guarantees good adaptive tracking performance in unconstrained motion and reduction of oscillating contacts in constrained motion. Based on an actual haptic device and a virtual manipulator, haptic simulations are presented to demonstrate adaptive transparency and contact stability in the presence of communication delay.
APA, Harvard, Vancouver, ISO, and other styles
5

Abuhamdia, Tariq, and Jacob Rosen. "Constant Visual and Haptic Time Delays in Simulated Bilateral Teleoperation: Quantifying the Human Operator Performance." Presence: Teleoperators and Virtual Environments 22, no. 4 (November 1, 2013): 271–90. http://dx.doi.org/10.1162/pres_a_00158.

Full text
Abstract:
Visual feedback and force feedback (haptics) are the two streams of information in a robotic bilateral teleoperation where the operator manipulates a robot in a remote location. Delivering the visual and the haptic information depends in part on the characteristics of the communication network and results in a nonsynchronized delay. The goal is to study the effect of constant nonsynchronized and synchronized time delay of visual and haptic information on the human teleoperation performance. The experimental setup included a virtual reality environment, which allows the operator to manipulate the virtual objects in a simulated remote environment through a haptic device that renders the force feedback. The visual and the haptic information were delayed independently in the range of 0–500 ms, creating 121 different scenarios of synchronized and nonsynchronized delays. Selecting specific parameters of the remote virtual environment guaranteed stable teleportation, given the time delays under study. The experimental tasks included tracing predefined geometrical shapes and a pick-and-place task, which simulates both structured and unstructured interactions under the influence of guiding forces. Eight subjects (n = 8) participated in the experiment performing three repetitions of three different teleoperation tasks with 121 combinations of visual and haptic time delays. The measured parameters that were used to assess the human performance were the task completion time and the position errors expressed as a function of the visual and the haptic time delay. Then, regression and ANOVA analyses were performed. The results indicated that the human performance is a function of the sum of the two delays. As the sum of the two delays increases, the human performance degrades and is expressed with an increase in completion time and position errors. The performance degradation is more pronounced in the pick-and-place task compared to the tracing task. In scenarios where the visual and the haptics information were out of synchronization, the human performance was better than intentionally delaying one source of information in an attempt to synchronize and unify the two delays. The results of this study may be applied to any teleoperation tasks over a network with inherent time delays and more specifically to telesurgery in which performance degradation due to time delay has a profound effect on the quality of the healthcare delivered, patient safety, and ultimately the outcomes of the surgical procedure itself.
APA, Harvard, Vancouver, ISO, and other styles
6

Banthia, Vikram, Yaser Maddahi, Kourosh Zareinia, Stephen Liao, Tim Olson, Wai-Keung Fung, Subramaniam Balakrishnan, and Nariman Sepehri. "A prototype telerobotic platform for live transmission line maintenance: Review of design and development." Transactions of the Institute of Measurement and Control 40, no. 11 (February 8, 2017): 3273–92. http://dx.doi.org/10.1177/0142331216687021.

Full text
Abstract:
This paper reports technical design of a novel experimental test facility, using haptic-enabled teleoperation of robotic manipulators, for live transmission line maintenance. The goal is to study and develop appropriate techniques in repair overhead power transmission lines by allowing linemen to wirelessly guide a remote manipulator, installed on a crane bucket, to execute dexterous maintenance tasks, such as twisting a tie wire around a cable. Challenges and solutions for developing such a system are outlined. The test facility consists of a PHANToM Desktop haptic device (master site), an industrial hydraulic manipulator (slave site) mounted atop a Stewart platform, and a wireless communication channel connecting the master and slave sites. The teleoperated system is tested under different force feedback schemes, while the base is excited and the communication channel is delayed and/or lossy to emulate realistic network behaviors. The force feedback schemes are: virtual fixture, augmentation force and augmented virtual fixture. Performance of each scheme is evaluated under three measures: task completion time, number of failed trials and displacement of the slave manipulator end-effector. The developed test rig has been shown to be successful in performing haptic-enabled teleoperation for live-line maintenance in a laboratory setting. The authors aim at establishing a benchmark test facility for objective evaluation of ideas and concepts in the teleoperation of live-line maintenance tasks.
APA, Harvard, Vancouver, ISO, and other styles
7

Springer, Scott L., and Nicola J. Ferrier. "Design and Control of a Force-Reflecting Haptic Interface for Teleoperational Grasping." Journal of Mechanical Design 124, no. 2 (May 16, 2002): 277–83. http://dx.doi.org/10.1115/1.1470493.

Full text
Abstract:
In this paper the design of a multi-finger force-reflecting haptic interface device for teleoperational grasping is introduced. The haptic interface or “master” controller device is worn on the human operator’s hand and measured human finger positions are used to control the finger positions of a remote grasping manipulator or “slave” device. The slave may be a physical robotic grasping manipulator, or a computer generated representation of a human hand such as used in virtual reality applications. The forces measured by the robotic slave, or calculated for the virtual slave, are presented to the operator’s fingertips through the master providing a means for deeper human sensation of presence and better control of grasping tasks in the slave environments. Design parameters and performance measures for haptic interfaces for teleoperation are discussed. One key performance issue involving the high-speed display of forces during initial contact, especially when interacting with rigid surfaces, is addressed by the present design, reducing slave controller computation requirements and overcoming actuator response time constraints. The design presented utilizes a planar four-bar linkage for each finger, to represent each finger bend motion as a single degree of freedom, and to provide a finger bend resistance force that is substantially perpendicular to the distal finger pad throughout the full 180 degrees of finger bend motion represented. The finger linkage design, in combination with a remote position measurement and force display assembly, provides a very lightweight and low inertia system with a large workspace. The concept of a replicated finger is introduced which, in combination with a decoupled actuator and feed forward control, provides improved performance in transparent free motion, and rapid, stable touch sensation of initial contact with rigid surfaces. A distributed computation architecture with a PC based haptic interface controller and associated control algorithms are also discussed.
APA, Harvard, Vancouver, ISO, and other styles
8

Bogue, Robert. "The role of augmented reality in robotics." Industrial Robot: the international journal of robotics research and application 47, no. 6 (March 4, 2020): 789–94. http://dx.doi.org/10.1108/ir-01-2020-0017.

Full text
Abstract:
Purpose The purpose of this paper is to provide an insight into how augmented reality (AR) technologies are being applied to robotics. Design/methodology/approach Following an introduction and a brief historical background to AR, this first provides examples of AR applications in robot programming. It then gives examples of recent research into AR-based robot teleoperation. Research activities involving the virtual fixtures (VF) technique are then discussed and finally, brief conclusions are drawn. Findings Because AR concepts were first investigated in the 1990s, applications involving robotics have been widely studied. Programming with the aid of AR devices, such as the HoloLens headset, can be simplified and AR methods, including the VF technique, can improve the accuracy and speed of teleoperation, manipulation and positional control tasks. They can also provide visual or haptic feedback which leads to more intuitive operation and significantly reduces the cognitive load on the operator. Originality/value This provides an insight into the growing role of AR in robotics by providing examples of recent research in a range of applications.
APA, Harvard, Vancouver, ISO, and other styles
9

Ma, Jiaqi, Xiang Cheng, Pengfei Wang, Zhiwei Jiao, Yuan Yu, Meng Yu, Bin Luo, and Weimin Yang. "A Haptic Feedback Actuator Suitable for the Soft Wearable Device." Applied Sciences 10, no. 24 (December 10, 2020): 8827. http://dx.doi.org/10.3390/app10248827.

Full text
Abstract:
Gaining direct tactile sensation is becoming increasingly important for humans in human–computer interaction fields such as space robot teleoperation and augmented reality (AR). In this study, a novel electro-hydraulic soft actuator was designed and manufactured. The proposed actuator is composed of polydimethylsiloxane (PDMS) films, flexible electrodes, and an insulating liquid dielectric. The influence of two different voltage loading methods on the output characteristics of the actuator was studied. The special voltage loading method (AC voltage) enables the actuator to respond rapidly (within 0.15 s), output a stable displacement in 3 s, and remain unchanged in the subsequent time. By adjusting the voltages and frequencies, a maximum output displacement of 1.1 mm and an output force of 1 N/cm2 can be rapidly achieved at a voltage of 12 kV (20 Hz). Finally, a haptic feedback system was built to control the robotic hand to perform gripping tasks in real time, and a more realistic tactile sensation could be realized, similar to that obtained when a human directly grabs objects. Therefore, the actuator has excellent portability, robustness, rapid response, and good compatibility with the human body for human–computer interaction.
APA, Harvard, Vancouver, ISO, and other styles
10

Khan, Hashim Raza, Insia Haura, and Riaz Uddin. "RoboDoc: Smart Robot Design Dealing with Contagious Patients for Essential Vitals Amid COVID-19 Pandemic." Sustainability 15, no. 2 (January 14, 2023): 1647. http://dx.doi.org/10.3390/su15021647.

Full text
Abstract:
The COVID-19 pandemic took valuable lives all around the world. The virus was so contagious and lethal that some of the doctors who worked with COVID-19 patients either were seriously infected or died, even after using personal protective equipment. Therefore, the challenge was not only to help communities recover from the pandemic, but also to protect the healthcare staff/professionals. In this regard, this paper presents a comprehensive design of a customized pseudo-humanoid robot to specifically deal with contagious patients by taking basic vitals through a healthcare staff member from a remote location amid the COVID-19 pandemic. The proposed design consists of two portions: (1) a complete design of mechanical, electrical/electronic, mechatronic, control, and communication parts along with complete assembly to make a complete multitask-performing robot that interacts with patients to take vitals, termed as RoboDoc, and (2) the design of the healthcare staff side (master/operator side) control of a joystick mechanism with haptic feedback. The proposed RoboDoc design can be majorly divided into three parts: (1) the locomotion part is composed of two-wheeled DC motors on a rover base and two omni wheels to support the movements of the robot; (2) the interaction part consists of a single degree-of-freedom (s-DOF) neck to have communication with different heights of patients and (3) two anthropomorphic arms with three degrees-of-freedom (3-DOF). These parts help RoboDoc to reach to patient’s location and take all of the vitals using relevant devices such as an IR temperature thermometer, pulse oximeter, and electronic stethoscope for taking live auscultations from the lungs and heart of the patient. The mechanical design was created using solid works, and the electronic control design was made via proteus 8.9. For haptic teleoperation, an XBOX 360 controller based on wireless communication is used at the master/operator side. For the convenience of the healthcare staff (operator), an interactive desktop-based GUI was developed for live monitoring of all the vital signs of patients. For the remote conversation between the healthcare staff and the patient, a tablet is mounted (that also serves as the robot’s face), and that tablet is controlled via a mobile application. For visual aid, a DSLR camera is integrated and controlled remotely, which helps the doctor monitor the patient’s location as well as examine the patient’s throat. Finally, successful experimental results of basic vitals of the remote patient such as temperature sensing, pulse oximeter, and heart rate (using haptic feedback) were obtained to show the significance of the proposed cost-effective RoboDoc design.
APA, Harvard, Vancouver, ISO, and other styles
More sources

Dissertations / Theses on the topic "Teleoperation, haptic devices, robotic"

1

Wang, Yu-Cheng. "Dual 7-Degree-of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5793.

Full text
Abstract:
A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also be used to give force feedback upon collision while the user is controlling the robot. Hence, a collision force feedback system is going to be created and combined with the teleoperation system. The teleoperation system will be tested in common daily applications.
APA, Harvard, Vancouver, ISO, and other styles
2

Black, Benjamin Andrew. "Controlling a Passive Haptic Master During Bilateral Teleoperation." Diss., Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/19716.

Full text
Abstract:
Haptic devices allow a human to interact physically with a remote or virtual environment by providing tactile feedback to the user. In general haptic devices can be classified in two groups according to the energetic nature of their actuators. Devices using electric motors, pneumatic or hydraulic cylinders or other similar actuators that can add energy to the system are considered "active." Devices using brakes, clutches or other passive actuators are considered "passive" haptic devices. The research presented here focuses on the use of passive haptic devices used during teleoperation, the remote control of a "slave" device by the haptic "master" device. An actuation scheme as well as three different control methods is developed for providing the user with haptic feedback. As a final step, the effectiveness of the controllers is compared to that of a commercially available active haptic device. Twenty subjects provide data that shows the usefulness of the passive device in three typical teleoperation tasks.
APA, Harvard, Vancouver, ISO, and other styles
3

Buttafuoco, Angelo. "Design and control of a teleoperated palpation device for minimally invasive thoracic surgery." Doctoral thesis, Universite Libre de Bruxelles, 2013. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/209512.

Full text
Abstract:
Minimally invasive surgery (MIS) consists in operating through small incisions in which a camera and adapted instruments are inserted. It allows to perform many interventions with reduced trauma for the patient. One of these is the ablation of peripheral pulmonary nodules.

Nevertheless, the means for detecting nodules during MIS are limited. In fact, because of the lack of direct contact, the surgeon cannot palpate the lung to find invisible lesions, as he would do in classical open surgery. As a result, only clearly visible nodules can be treated by MIS presently.

This work aims at designing, building and controlling a teleoperated palpation instrument, in order to extend the possibilities of MIS in the thoracic field. Such an instrument is made of a master device, manipulated by an operator, and a slave device which is in contact with the patient and reproduces the task imposed by the master. Adequate control laws between these two parts allow to restore the operator's haptic sensation. The goal is not to build a marketable prototype, but to establish a proof of concept.

The palpation device has been designed in collaboration with thoracic surgeons on the basis of the study of the medical gesture. The specifications have been deduced through experiments with experiencied surgeons from the Erasmus Hospital and the Charleroi Civil Hospital.

A pantograph has been built to be used as the master of the palpation tool. The slave is made of a 2 degrees of freedom (dof) clamp, which can be actuated in compression and shear. The compression corresponds to vertical moves of the pantograph, and the shear to horizontal ones. Force sensors have been designed within this project to measure the efforts along these directions, both at the master and the slave side, in order to implement advanced force-feedback control laws and for validation purposes.

Teleoperation control laws providing a suitable kinesthetic force feedback for lung palpation have been designed and validated through simulations. These simulations have been realized using a realistic model of lung, validated by experienced surgeons. Among the implemented control schemes, the 3-Channel scheme, including a local force control loop at the master side, is the most efficient for lung palpation. Moreover, the increased efficiency of a 2 dof device with respect to a 1 dof tool has been confirmed. Indeed, a characteristic force profile due to the motion in 2 directions appeared in the compression force tracking, making the lesion easier to locate.
Doctorat en Sciences de l'ingénieur
info:eu-repo/semantics/nonPublished

APA, Harvard, Vancouver, ISO, and other styles
4

Albakri, Abdulrahman. "Haptic Teleoperation for Robotic-Assisted Surgery." Thesis, Montpellier, 2015. http://www.theses.fr/2015MONTS189/document.

Full text
Abstract:
Dans ce travail de thèse, nous examinons les principaux facteurs affectant la transparence d'un schéma de téléopération dans le contexte de la robotique médicale.Afin de déterminer ces facteurs, une analyse approfondie de l'état de l'art a été réalisée ce qui a permis de proposer une nouvelle classification de schémas de téléopération avec retour haptique.Le rôle de ces principaux facteurs a été analysé.Ces facteurs sont liés à l'architecture de commande appliquée, aux perturbations provoquées par les mouvements physiologiques des tissus manipulés ainsi qu'à la précision du modèle d'interaction robot-tissue.Les performances du schéma de téléopération à architecture 3-canaux ont été analysées en simulation pour choisir une architecture de commande dédiée aux applications médicales.Ensuite, l'influence des mouvements physiologiques de l'environnement manipulé sur la transparence du système a été analysée et un nouveau modèle d'interaction avec des tissus mous a été proposé.Un schéma de commande de téléopération basé modèle d'interaction a été proposé en se basant sur une analyse de passivité du port d'interaction robot-environnement.Enfin, l'importance de la précision du modèle d'interaction (robot-tissue) sur la transparence du schéma de téléopération avec retour d'effort basé-modèle a été analysée.Cette analyse a été validée en théorie et expérimentalement en implémentant le modèle Hunt-Crossly dans une commande utilisant un AOB pour réaliser une téléopération avec retour haptique.En conclusion de ce travail, les résultats de cette thèse ont été discutés et les perspectives futures ont également été proposées
This thesis investigates the major factors affecting teleoperation transparency in medical context.A wide state of art survey is carried out and a new point of view to classify haptic teleoperation literature is proposed in order to extract the decisive factors providing a transparent teleoperation.Furthermore, the roles of three aspects have been analysed.First, The role of the applied control architecture.To this aim, the performances of 3-channel teleoperation are analysed and guidelines to select a suitable control architecture for medical applications are proposed.The validation of these guidelines is illustrated through simulations.Second, the effects of motion disturbance in the manipulated environment on telepresence are analysed.Consequently, a new model of such moving environment is proposed and the applicability of the proposed model is shown through interaction port passivity investigation.Third analysed factor is the role of the interaction model accuracy on the transparency of interaction control based haptic teleoperation.This analysis is performed theoretically and experimentally by the design and implementation of Hunt-Crossly in AOB interaction control haptic teleoperation.The results are discussed and the future perspectives are proposed
APA, Harvard, Vancouver, ISO, and other styles
5

Ferreira, Joana Gil Távora de Almeida. "Distributed haptic interface for applications in robotic teleoperation and rehabilitation." Master's thesis, Universidade de Aveiro, 2017. http://hdl.handle.net/10773/23585.

Full text
Abstract:
Mestrado em Engenharia Mecânica
A tecnologia háptica está cada vez mais presente na sociedade em áreas tão diversas como a saúde, a robótica e o lazer. Nesta dissertação desenvolveuse um dispositivo háptico com o objetivo de ser utilizado na teleoperação robótica e na reabilitação. O dispositivo desenvolvido permite ao utilizador, através de uma interface gráfica, controlar uma rede de mini-motores vibratórios individualmente ou utilizando estímulos previamente definidos. O utilizador consegue assim definir que motor, ou que conjunto de motores, pretende activar e a intensidade dos mesmos. No desenvolvimento do sistema utilizou-se a arquitetura ROS e a arquitetura Qt para a implementação do sistema de comunicação e da interface gráfica, e a plataforma Arduino para o comando dos motores vibratórios. Para a funcionalidade do dispositivo na área da reabilitação foi desenvolvida uma luva/manga composta por dezasseis motores vibratórios dispostos em pontos estratégicos tendo em conta os nervos do ser humano. Todo o sistema foi testado e avaliado por pessoal médico e por uma amostra de voluntários com vários backgrounds. Uma análise realizada aos dados recolhidos mostrou que o método proposto foi bem sucedido.
The haptic technology is increasingly present in society in diverse areas such as health, robotics and recreation. In the present work, a haptic device with the objective of being used in robotic teleoperation and rehabilitation was developed. The developed device allows the user, through the use of a graphical interface, to control a network of mini vibration motors, either individually or using predefined stimuli. Therefore, the user can define which motor, or which group of motors, to turn on and its intensity. In the development of the system the platform ROS and platform Qt were used in the implementation of the communication system and the graphical interface, and the platform Arduino was used to do the command of the vibration motors. To the functionality of the device, a glove/sleeve composed by sixteen vibration motors displayed in strategical points according the human being dermatomes was developed. The entire system was tested and evaluated by clinicians and by a sample of volunteers with different backgrounds. An analysis to the collected data showed that the proposed method was successful.
APA, Harvard, Vancouver, ISO, and other styles
6

LOYOLA, NILTON ALEJANDRO CUELLAR. "FIVE DEGREE-OF-FREEDOM HAPTIC INTERFACE FOR TELEOPERATION OF ROBOTIC MANIPULATORS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2012. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=21171@1.

Full text
Abstract:
PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO
COORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR
PROGRAMA DE EXCELENCIA ACADEMICA
O sucesso de diversas tarefas de teleoperacao depende muito da habilidade do operador e de sua capacidade de perceber o ambiente de trabalho. A realimentacao visual em muitos casos nao e suficiente, por exemplo quando a qualidade da imagem do ambiente de trabalho e baixa, quando ocorrem oclusoes na visualizacao, ou quando a tarefa envolve forcas de contato associadas a folgas pequenas visualmente imperceptıveis. Para compensar essas deficiencias, os dispositivos hapticos surgem como uma alternativa a realimentacao visual, ao interagir com o usuario atraves do tato, produzindo uma sensacao de forca. Esta dissertacao apresenta o desenvolvimento e modelagem de um sistema de interface haptica de cinco graus de liberdade para a teleoperacao de robos manipuladores, com foco naqueles que realizam trabalhos em ambientes perigosos ou hostis ao ser humano. A interface e desenvolvida a partir do acoplamento de dois dispositivos hapticos comerciais Novint Falcon, de tres graus de liberdade cada. O sistema resultante do acoplamento e modelado como um manipulador paralelo, capaz de fornecer ao operador, realimentacao de forca 3D (em tres direcoes) e realimentacao de torque em duas direcoes. Para demonstrar a eficiencia do sistema haptico desenvolvido, um ambiente virtual e implementado com o auxılio de tecnicas de computacao grafica e bibliotecas como OpenGL, ODE e Chai3D. Os modelos cinematico e dinamico de um manipulador serial Schilling Titan IV, de seis graus de liberdade, sao implementados no ambiente virtual, incluindo sua interacao com objetos (virtuais) do ambiente de teleoperacao. Controladores nao lineares sao implementados no manipulador serial virtual, incluindo controle de torque computado, robusto, e por modos deslizantes.
The success of many teleoperation tasks depends heavily on the skills of the operator and his ability to perceive the work environment. Visual feedback, in many cases, is not sufficient e.g. when the image quality of the work environment is low, occlusions occur in the display, or when the task involves contact forces associated with visually unnoticeable small clearances. To compensate for these shortcomings, haptic devices emerge as an alternative to visual feedback, in which touch interaction with the user produces force-feedback. This thesis presents the development and modeling of a haptic interface system of five degrees of freedom for the teleoperation of robot manipulators, focusing on those that work in hazardous or hostile environments for humans. The interface is developed from the coupling of two commercial haptic devices Novint Falcon, with three degrees of freedom each. The system resulting from the coupled devices is modeled as a parallel manipulator capable of providing the operator with 3D force feedback (in three dimensions) and torque feedback in two directions. To demonstrate the effectiveness of the developed haptic system, a virtual environment is implemented with the aid of computer graphics techniques and libraries such as OpenGL, ODE and Chai3D. The kinematic and dynamic models of a serial manipulator Schilling Titan IV, with six degrees of freedom, are implemented in the virtual environment, including its interaction with virtual objects for the evaluation of typical teleoperation tasks. Nonlinear controllers are implemented in the virtual serial manipulator, including computed torque and sliding mode control.
APA, Harvard, Vancouver, ISO, and other styles
7

Maneewarn, Thavida. "Haptic feedback of manipulator kinematic conditioning for teleoperation /." Thesis, Connect to this title online; UW restricted, 2000. http://hdl.handle.net/1773/6107.

Full text
APA, Harvard, Vancouver, ISO, and other styles
8

Yilmaz, Serter. "Passive Haptic Robotic Arm Design." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612491/index.pdf.

Full text
Abstract:
The implant surgery replaces missing tooth to regain functionality and look of the normal tooth after dental operation. Improper placement of implant increases recuperation periods and reduces functionality. The aim of this thesis is to design a passive haptic robotic arm to guide dentist during the implant surgery. In this thesis, the optimum design of the 6R passive haptic robotic arm is achieved. The methodology used in optimization problem involves minimization of end-effector side parasitic forces/torques while maximizing transparency of the haptic device. The transparency of haptic device is defined as realism of forces generated by device in real world compared to forces in virtual world. The multivariable objective function including dynamic equations of 6R robotic arm is derived and the constraints are determined using kinematic equations. The optimization problem is solved using SQP and GA. The link lengths and other relevant parameters along with the location of tool path are optimized. The end-effector parasitic torques/forces are significantly minimized. The results of two optimization techniques have proven to be nearly the same, thus a global optimum solution has been found in the search space. Main contribution of this study is to take spatial nonlinear dynamics into consideration to reduce parasitic torques. Also, a mechanical brake is designed as a passive actuator. The mechanical brake includes a cone based braking system actuated by DC motor. Three different prototypes are manufactured to test performance of the mechanical brake. The final design indicates that the mechanical brake can be used as passive actuators.
APA, Harvard, Vancouver, ISO, and other styles
9

Zhu, Qi. "Teleoperated Grasping Using an Upgraded Haptic-Enabled Human-Like Robotic Hand and a CyberTouch Glove." Thesis, Université d'Ottawa / University of Ottawa, 2020. http://hdl.handle.net/10393/41117.

Full text
Abstract:
Grasping, the skill to hold objects and tools while doing in-hand manipulation, still is in many cases an unsolvable problem for robotics, but a natural act for humans. An efficient grasping requires not only human-like robotic hands with articulated fingers but also tactile, force, and kinesthetic sensors for the precise control of the forces and motions exerted during the manipulation. As a fully autonomous robotic dexterous manipulation is too difficult to develop for changing and unstructured environments, an alternative approach is to combine the low-level robot computer control with the higher-level perception and task planning abilities of a human operator equipped with an adequate human-computer interface (HCI). This thesis presents theoretical and experimental contributions to the development of an upgraded haptic-enabled anthropomorphic Ring Ada dexterous robotic hand and a biology-inspired synergistic real-time control system for teleoperated grasping of different objects using a CyberTouch HCI data glove. A fuzzy logic controller module was developed to efficiently control the underactuated Ring Ada’ robotic hand during grasping. A machine learning classification system was developed to recognize grasped objects. Experiments have convincingly demonstrated that our novel Ring Ada robotic hand equipped with kinematic position sensors and touch sensors is able to efficiently grasp different lightweight objects through teleoperation.
APA, Harvard, Vancouver, ISO, and other styles
10

Arslan, Mehmet Selcuk. "Improving Performance Of A Remote Robotic Teleoperation Over The Internet." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/12606475/index.pdf.

Full text
Abstract:
In this thesis study, it is aimed to improve the performance of an Internet-based teleoperation system enabling the remote operation of a 6 DOF industrial robot. In order to improve the safety and efficiency of the teleoperation, stability and synchronization (hand-eye coordination) are considered. The selected communication medium between the human operator and remote robot is the Internet. The variable time delays and nondeterministic characteristics of the Internet may lead to instability of the teleoperation system. Considering the disturbing effects of the Internet onto the transmission, an event-based control approach is used in order to improve the stability of the teleoperation system. Besides, a visual feedback system is developed and a force-feedback mouse is designed in order to improve synchronization between the human operator and robot during the command generation according to the feedback obtained from the control system. A client-server software application is developed to interface the human operator with remote environment. It is observed that, using the event-based control approach in the operation makes the teleoperation stable and improves the synchronization ability. Implementation of visual feedback and force-feedback mouse to the teleoperation system improves the human operator&rsquo
s ability to perform remote operation.
APA, Harvard, Vancouver, ISO, and other styles

Books on the topic "Teleoperation, haptic devices, robotic"

1

Mihelj, Matjaž. Haptics for Virtual Reality and Teleoperation. Dordrecht: Springer Netherlands, 2012.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
2

Pacchierotti, Claudio. Cutaneous Haptic Feedback in Robotic Teleoperation. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-25457-9.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

World, Haptics 2007 (2007 Tsukuba Japan). World Haptics 2007: Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems : 22-24 March, 2007, Tsukuba, Japan. Los Alamitos, Calif: IEEE Computer Society, 2007.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
4

World Haptics 2007 (2007 Tsukuba, Japan). World Haptics 2007: Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems : 22-24 March, 2007, Tsukuba, Japan. Los Alamitos, Calif: IEEE Computer Society, 2007.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
5

World Haptics 2007 (2007 Tsukuba, Japan). World Haptics 2007: Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems : 22-24 March, 2007, Tsukuba, Japan. Los Alamitos, Calif: IEEE Computer Society, 2007.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
6

Mihelj, Matjaž, and Janez Podobnik. Haptics for Virtual Reality and Teleoperation. Springer, 2012.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
7

Mihelj, Matjaž, and Janez Podobnik. Haptics for Virtual Reality and Teleoperation. Springer, 2015.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
8

Pacchierotti, Claudio. Cutaneous Haptic Feedback in Robotic Teleoperation. Springer, 2015.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
9

Pacchierotti, Claudio. Cutaneous Haptic Feedback in Robotic Teleoperation. Springer London, Limited, 2015.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
10

Pacchierotti, Claudio. Cutaneous Haptic Feedback in Robotic Teleoperation. Springer, 2016.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
More sources

Book chapters on the topic "Teleoperation, haptic devices, robotic"

1

Becker, Leonie, Bernhard Weber, and Nicolai Bechtel. "Haptic Guidance for Teleoperation: Optimizing Performance and User Experience." In Haptics: Science, Technology, Applications, 129–37. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-06249-0_15.

Full text
Abstract:
AbstractHaptic guidance in teleoperation (e.g. of robotic systems) is a pioneering approach to successfully combine automation and human competencies. In the current user study, various forms of haptic guidance were evaluated in terms of user performance and experience. Twenty-six participants completed an obstacle avoidance task and a peg-in-hole task in a virtual environment using a seven DoF force feedback device. Three types of haptic guidance (translational, rotational, combination of both, i.e. 6 DoF) and three guidance forces and torques (stiffnesses) were compared. Moreover, a secondary task paradigm was utilized to explore the effects of additional cognitive load. The results show that haptic guidance significantly improves performance (i.e. completion times, collision forces). Best results were obtained when the guidance forces were set to a medium or high value. Additionally, feelings of control were significantly increased during higher cognitive load conditions when being supported by translational haptic guidance.
APA, Harvard, Vancouver, ISO, and other styles
2

Liu, Lingzhi, Guanyang Liu, and Yuru Zhang. "Grasping Control in Three-Fingered Robot Hand Teleoperation Using Desktop Haptic Device." In Haptics: Neuroscience, Devices, Modeling, and Applications, 232–40. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-44196-1_29.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Ateş, Gizem, Luca Brunetti, and Marcello Bonfè. "Improved Usability of a Low-Cost 5-DOF Haptic Device for Robotic Teleoperation." In ROMANSY 22 – Robot Design, Dynamics and Control, 213–21. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-78963-7_28.

Full text
APA, Harvard, Vancouver, ISO, and other styles
4

Brygo, Anais, Ioannis Sarakoglou, Nadia Garcia-Hernandez, and Nikolaos Tsagarakis. "Humanoid Robot Teleoperation with Vibrotactile Based Balancing Feedback." In Haptics: Neuroscience, Devices, Modeling, and Applications, 266–75. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-44196-1_33.

Full text
APA, Harvard, Vancouver, ISO, and other styles
5

Pacchierotti, Claudio. "Sensory Subtraction in Teleoperation: Substituting Haptic Force with Cutaneous Stimuli." In Cutaneous Haptic Feedback in Robotic Teleoperation, 3–19. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-25457-9_1.

Full text
APA, Harvard, Vancouver, ISO, and other styles
6

Pacchierotti, Claudio. "Needle Insertion in Simulated Soft Tissue." In Cutaneous Haptic Feedback in Robotic Teleoperation, 21–36. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-25457-9_2.

Full text
APA, Harvard, Vancouver, ISO, and other styles
7

Pacchierotti, Claudio. "Peg-in-Hole in Simulated and Real Scenarios." In Cutaneous Haptic Feedback in Robotic Teleoperation, 37–58. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-25457-9_3.

Full text
APA, Harvard, Vancouver, ISO, and other styles
8

Pacchierotti, Claudio. "Remote Palpation Using the da Vinci Surgical System." In Cutaneous Haptic Feedback in Robotic Teleoperation, 59–89. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-25457-9_4.

Full text
APA, Harvard, Vancouver, ISO, and other styles
9

Pacchierotti, Claudio. "Cutaneous and Kinesthetic Cues to Improve Transparency in Teleoperation." In Cutaneous Haptic Feedback in Robotic Teleoperation, 93–120. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-25457-9_5.

Full text
APA, Harvard, Vancouver, ISO, and other styles
10

Pacchierotti, Claudio. "Cutaneous and Kinesthetic Cues for Enhanced Navigation Feedback in Teleoperation." In Cutaneous Haptic Feedback in Robotic Teleoperation, 121–40. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-25457-9_6.

Full text
APA, Harvard, Vancouver, ISO, and other styles

Conference papers on the topic "Teleoperation, haptic devices, robotic"

1

Ionescu, Florin, and Ilie Talpasanu. "Teleoperation Hybrid Robot for Cell Micro and Nano Manipulations." In ASME 2006 Frontiers in Biomedical Devices Conference. ASMEDC, 2006. http://dx.doi.org/10.1115/nanobio2006-18018.

Full text
Abstract:
In this paper is presented a developed robotic system for cell micro/nano manipulation and penetration, based on the visual/haptic interface. The operator’s motion and manipulations skills are transferred to the robot control system by direct teleoperation. The robot’s regional structure has three translational joints and one passive rotational joint for the nanorobot adjustment. The three-d.o.f piezo actuated nano robot is a compact and stiff structure, to guarantee the three-dimensional nano motion and control for sample manipulation or injection. The closed kinematic structure with two fundamental loops has been chosen for the required working space, high speed, and precision. The digraph-matroid approach is used for the model’s kinematics, and the SDS software for the robot’s simulation.
APA, Harvard, Vancouver, ISO, and other styles
2

Caracciolo, R., G. Boschetti, N. De Rossi, G. Rosati, and A. Trevisani. "A Master-Slave Robotic System for Haptic Teleoperation." In ASME 8th Biennial Conference on Engineering Systems Design and Analysis. ASMEDC, 2006. http://dx.doi.org/10.1115/esda2006-95474.

Full text
Abstract:
This paper proposes a telerobotic system made up of an haptic master and a slave anthropomorphic robot communicating through the Internet. In the proposed teleoperation system the operator drives the robot by manipulating a five-dof pen-shaped master haptic device, whose movements are repeated by the robot. Moreover, the operator is provided with force feedback in order not only to let him feel the physical environment the robot is interacting with, but also to guide him through the correct execution of the teleoperation task. To this purpose, the slave system end-effector (a drill) is mounted on a home-made single axis load cell used to measure drilling forces. This work, in particular, addresses the problem of implementing an on-line trajectory planner assuring a smooth motion of the slave robot in the presence of piecewise constant and unpredictable position references received by the haptic master, even in the presence of random communication time delay. Additionally, in order to improve the drilling task outcome and to prevent the execution of inappropriate and abrupt operators’ movements, an algorithm has been developed, which makes use of a local force feedback to appropriately delay the position references received by the master.
APA, Harvard, Vancouver, ISO, and other styles
3

O’Malley, Marcia K. "Shared Control for Upper Extremity Rehabilitation in Virtual Environments." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-81782.

Full text
Abstract:
Interest in the rehabilitation applications for robots has been increasing. For example, various devices have been developed to aid in reaching movements of stroke, traumatic brain injury (TBI), and spinal cord injury (SCI) patients. Typically these devices provided guided reaching movements for elbow and shoulder. The robotic aspect allows for repeatability, along with additional data for post-session analysis. To date, robotic rehabilitation systems with haptic feedback have not fully exploited the capabilities of a haptic display device. The simulators primarily focus on obeying the physical laws that govern such systems in order to re-create realistic environments for rehabilitative tasks, or the robotic devices are employed only for their ability to carry the impaired limb through various trajectories. This paper will present a novel active assistance paradigm for interactions in virtual environments displayed via haptic interfaces. The author’s recent research efforts have focused on the design of perceptual overlays in virtual environments that are active rather than passive. Passive virtual fixtures have been the primary perceptual overlay in haptics, and have been used extensively as “virtual rulers” in teleoperation environments to improve operator performance of pick-and-place tasks. Active assistance in the form of shared control between the haptic device and the human operator has the potential to elicit even better performance in virtual and remote environment interactions, and also has implications for improving training effectiveness. The intended applications include stroke rehabilitation and training for pilots, manufacturing, and surgery. A description of perceptual overlays and details of the shared control paradigm are presented, along with results from some preliminary experiments on shared control haptic assistance for training in virtual environments.
APA, Harvard, Vancouver, ISO, and other styles
4

Rezeck, Paulo, Bruna Frade, Jessica Soares, Luan Pinto, Felipe Cadar, Hector Azpurua, Douglas G. Macharet, Luiz Chaimowicz, Gustavo Freitas, and Mario F. M. Campos. "Framework for Haptic Teleoperation of a Remote Robotic Arm Device." In 2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE). IEEE, 2018. http://dx.doi.org/10.1109/lars/sbr/wre.2018.00039.

Full text
APA, Harvard, Vancouver, ISO, and other styles
5

Zhao, Yue, Xiaoming Liu, Junnan Chen, Masaru Kojima, Qiang Huang, and Tatsuo Arai. "Teleoperation of Dexterous Micro-Nano Hand with Haptic Devices." In 2022 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE, 2022. http://dx.doi.org/10.1109/rcar54675.2022.9872241.

Full text
APA, Harvard, Vancouver, ISO, and other styles
6

Wang, David, Gilbert Lai, and Carmen Caradima. "A Mechatronics Approach to Safe, Stable Teleoperation in Medical Applications." In ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2000. http://dx.doi.org/10.1115/detc2000/mech-14150.

Full text
Abstract:
Abstract Currently, remote interactions between patient and surgeon/doctor are limited to visual and audio aspects only. The general objective of the research presented in this paper is to explore force feedback teleoperation to improve the doctor/surgeon’s abilities. A control strategy is proposed which transmits forces, does not need expensive force sensors, and can be shown to be always stable. This technique should work for all “linear” haptic devices. The mechatronics approach has been taken in the mechanical design of the haptic devices to ensure linearity. The work presented in this paper will focus on the interactions between two haptic devices: the Virtual Reality Mouse 1 (VR Mouse), and a 5-bar linkage robot. Time delay issues involved in the teleoperation will also be discussed. The technique proposed in this paper will result in a very inexpensive workstation for teleoperation applications.
APA, Harvard, Vancouver, ISO, and other styles
7

Guerriero, Brian, and Wayne Book. "Haptic Feedback Applied to Pneumatic Walking." In ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2185.

Full text
Abstract:
This paper presents a proposed control method for controlling the foot positions of two robotic legs through direct operator inputs with haptic feedback. The robot consists of two 3-DoF legs driven by pneumatic actuators. A demonstration of the controller shows the tracking performance enhancements of the proposed force-based position controller over a simple differential pressure gain scheduler-based position controller. The proposed controller incorporates pressure feedback to create supplementary force control. Foot position tracking remains within 10% of the commanded reference position, even through the sharp disparities of loading conditions as the actuators are either lifting the weight of the legs or supporting the weight of the robot itself. An operator gives direct foot position commands to the controller through two PHANToM haptic devices. Bilateral teleoperation of the system provides directional force feedback to the operator as a function of foot position error. The proposed controller also decreases the ambient and false forces reflected to the operator while moving the legs through gait cycles.
APA, Harvard, Vancouver, ISO, and other styles
8

Miller, Patrick, Leng-Feng Lee, and Venkat Krovi. "Output Synchronization for Teleoperation of Wheel Mobile Robot." In ASME 2009 Dynamic Systems and Control Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/dscc2009-2637.

Full text
Abstract:
The potential for use of robotic systems in remote applications arenas has long motivated development of robust and stable means of teleoperated control of slave systems. However, telerobotic systems face challenges stemming from the devices themselves, environmental factors, communication and control complexities. To address these challenges, we will adopt the passivity based synchronization framework [1] and study its applicability to safely synchronize two heterogeneous Lagrangian systems. Within this framework, an adaptive controller identifies and stabilizes the dynamics of the master and slave systems and renders the dynamics passive to a secondary coupling input. The passive mapping used to couple the output states of the master and slave systems and is made insensitive to lossy and delayed communication medium. Specifically, an adaptive passive synchronization teleoperation controller is developed between an Omni haptic device that serves as our master and a differentially driven nonholonomic Wheel Mobile Robot (WMR) as the slave system. A battery of hardware-in-the-loop simulations are used to verify the proposed controller.
APA, Harvard, Vancouver, ISO, and other styles
9

Springer, Scott L., and Nicola J. Ferrier. "Design of a Multi-Finger Haptic Interface for Teleoperational Grasping." In ASME 1999 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/imece1999-0643.

Full text
Abstract:
Abstract In this paper the design of a multi-finger force-reflecting haptic interface device for teleoperational grasping is introduced. The haptic interface or “master” controller device is worn on the human operator’s hand and measured human finger positions are used to control the finger positions of a remote grasping manipulator or “slave” device. The slave may be a physical robotic grasping manipulator, or a computer generated representation of a human hand such as used in virtual reality applications. The forces measured by the robotic slave, or calculated for the virtual slave, are presented to the operator’s fingertips through the master providing a means for deeper human sensation of presence and better control of grasping tasks in the slave environments. Design parameters and performance measures for haptic interfaces for teleoperation are discussed. One key performance issue involving the high-speed display of forces during initial contact, especially when interacting with rigid surfaces, is addressed by the present design, reducing slave controller computation requirements and overcoming actuator response time constraints. The design presented utilizes a planar four-bar linkage for each finger, to represent each finger bend motion as a single degree of freedom, and to provide a finger bend resistance force that is substantially perpendicular to the distal finger pad throughout the full 180 degrees of finger bend motion represented. The finger linkage design, in combination with a remote position measurement and force display assembly, provides a very light weight and low inertia system with a large workspace. The concept of a replicated finger is introduced which, in combination with a decoupled actuator and feed forward control, provides improved performance in transparent free motion, and rapid, stable touch sensation of initial contact with rigid surfaces. A distributed computation architecture with a PC based haptic interface controller and associated control algorithms are also discussed.
APA, Harvard, Vancouver, ISO, and other styles
10

Lee, Jae-young, Shahram Payandeh, and Ljiljana Trajkovic´. "The Internet-Based Teleoperation: Motion and Force Predictions Using the Particle Filter Method." In ASME 2010 International Mechanical Engineering Congress and Exposition. ASMEDC, 2010. http://dx.doi.org/10.1115/imece2010-40495.

Full text
Abstract:
In this paper, we present motion and force predictions in Internet-based teleoperation systems using the particle filter method. The particle filter, also known as the sequential Monte Carlo (SMC) method, is a probabilistic prediction or estimation technique within a sequential Bayesian framework: Data at a current time step are predicted or estimated by recursively generating probability distribution based on previous observations and input states. In this paper, we first formulate the particle filter method using a prediction-based approach. Motion and force data flows, which may be impaired by the Internet delay, are formulated within a sequential Bayesian framework. The true motion and force data are then predicted by employing the prediction-based particle filter method using the impaired observations and previous input states. We performed experiments using a haptic device that interacts with a mechanics-based virtual 3D graphical environment. The haptic device is used as a master controller that provides positioning inputs to a 4-degree of freedom (4-DoF) virtual robotic manipulator while receiving feedback force through interactions with the virtual environment. We simulate the Internet delay with variations typically observed in a user datagram protocol (UDP) transmission between the master controller and the virtual teleoperated robot. In this experimental scenario, the particle filter method is implemented for both motion and force data that experience the Internet delay. The proposed method is compared with the conventional Kalman filter. Experimental results indicate that in nonlinear and non-Gaussian environments the prediction-based particle filter has distinct advantage over other methods.
APA, Harvard, Vancouver, ISO, and other styles
You might also be interested in the extended bibliographies on the topic 'Teleoperation, haptic devices, robotic' for particular source types:
Journal articles Books
We offer discounts on all premium plans for authors whose works are included in thematic literature selections. Contact us to get a unique promo code!

To the bibliography