Journal articles on the topic 'Teleoperation, haptic devices, robotic'
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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Yoon, Woo-Keun, Yuichi Tsumaki, and Masaru Uchiyama. "An Experimental Teleoperation System for Dual-Arm Space Robotics." Journal of Robotics and Mechatronics 12, no. 4 (August 20, 2000): 378–84. http://dx.doi.org/10.20965/jrm.2000.p0378.
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An experimental teleoperation system for dual-arm space robotics has been developed. A purpose of our work using this system is a development of space robot teleoperation technologies, which can replace skills of an astronaut. Therefore, several concepts for flexibility and practicability are introduced to establish this setup. This system is composed of the space system, the ground system and the software development system. The space system includes dual 7-DOF manipulators, multipurpose hands, force/torque sensors and an image processing system. The ground system is composed of a master arm and a graphic workstation. A novel developed 6-DOF haptic interface device is employed as a master arm. To achieve an effective teleoperation ability, new concepts of virtual grip and virtual ball are introduced.
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Quan-Zen Ang, Ben Horan, and Saeid Nahavandi. "Multipoint Haptic Mediator Interface for Robotic Teleoperation." IEEE Systems Journal 9, no. 1 (March 2015): 86–97. http://dx.doi.org/10.1109/jsyst.2013.2283955.
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Puyo, Lina M. Becerra, Heather M. Capel, Shanon K. Phelan, Sandra A. Wiebe, and Kim D. Adams. "Using a robotic teleoperation system for haptic exploration." Journal of Rehabilitation and Assistive Technologies Engineering 8 (January 2021): 205566832096930. http://dx.doi.org/10.1177/2055668320969308.
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Introduction When children with physical impairments cannot perform hand movements for haptic exploration, they miss opportunities to learn about object properties. Robotics systems with haptic feedback may better enable object exploration. Methods Twenty-four adults and ten children without physical impairments, and one adult with physical impairments, explored tools to mix substances or transport different sized objects. All participants completed the tasks with both a robotic system and manual exploration. Exploratory procedures used to determine object properties were also observed. Results Adults and children accurately identified appropriate tools for each task using manual exploration, but they were less accurate using the robotic system. The adult with physical impairment identified appropriate tools for transport in both conditions, however had difficulty identifying tools used for mixing substances. A new exploratory procedure was observed, Tapping, when using the robotic system. Conclusions Adults and children could make judgements on tool utility for tasks using both manual exploration and the robotic system, however they experienced limitations in the robotics system that require more study. The adult with disabilities required less assistance to explore tools when using the robotic system. The robotic system may be a feasible way for individuals with physical disabilities to perform haptic exploration.
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Seung, Sungmin, Hongseok Choi, Jongseong Jang, Young Soo Kim, Jong-Oh Park, Sukho Park, and Seong Young Ko. "Virtual wall–based haptic-guided teleoperated surgical robotic system for single-port brain tumor removal surgery." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 231, no. 1 (November 18, 2016): 3–19. http://dx.doi.org/10.1177/0954411916676218.
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This article presents a haptic-guided teleoperation for a tumor removal surgical robotic system, so-called a SIROMAN system. The system was developed in our previous work to make it possible to access tumor tissue, even those that seat deeply inside the brain, and to remove the tissue with full maneuverability. For a safe and accurate operation to remove only tumor tissue completely while minimizing damage to the normal tissue, a virtual wall–based haptic guidance together with a medical image–guided control is proposed and developed. The virtual wall is extracted from preoperative medical images, and the robot is controlled to restrict its motion within the virtual wall using haptic feedback. Coordinate transformation between sub-systems, a collision detection algorithm, and a haptic-guided teleoperation using a virtual wall are described in the context of using SIROMAN. A series of experiments using a simplified virtual wall are performed to evaluate the performance of virtual wall–based haptic-guided teleoperation. With haptic guidance, the accuracy of the robotic manipulator’s trajectory is improved by 57% compared to one without. The tissue removal performance is also improved by 21% ( p < 0.05). The experiments show that virtual wall–based haptic guidance provides safer and more accurate tissue removal for single-port brain surgery.
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Malysz, Pawel, and Shahin Sirouspour. "Mixed Autonomous/Teleoperation Control of Asymmetric Robotic Systems." International Journal of Robotics Applications and Technologies 2, no. 1 (January 2014): 35–60. http://dx.doi.org/10.4018/ijrat.2014010103.
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This paper presents a unified framework for system design and control in human-in-the-loop asymmetric robotic systems. It introduces a highly general teleoperation system configuration involving any number of operators, haptic interfaces, and robots with possibly different degrees of mobility. The proposed framework allows for mixed teleoperation/autonomous control of user-defined subtasks by establishing position/force tracking as well as kinematic constraints among relevant teleoperation control frames. The control strategy is hierarchical comprising of a high-level teleoperation coordinating controller and low-level joint velocity controllers. The approach utilizes idempotent, generalized pseudoinverse and weighting matrices in order to achieve new performance objectives that are defined for such asymmetric semi-autonomous teleoperation systems. Three layers of velocity-based autonomous control at different priority levels with respect to human teleoperation are integrated into the framework. A detailed analysis of system performance and stability is presented. Experimental results with a single-master/dual-slave system configuration demonstrate an application of the proposed system design and control strategy.
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Hwang, Gilgueng, Preeda Chantanakajornfung, and Hideki Hashimoto. "Versatile Robotic Biomanipulation with Haptic Interface." Journal of Robotics and Mechatronics 19, no. 5 (October 20, 2007): 585–91. http://dx.doi.org/10.20965/jrm.2007.p0585.
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This paper presents a multi-scale extension of versatile robotic biomanipulation powered by single-master multislave (SMMS) bilateral teleoperation. We tested the potential possibility of SMMS multiscale extension to variety of biomanipulation applications. Our target goal is to design a multi-scale biotweezing tool. The SMMS configuration was previously proven useful for single manipulation control. First, cell handling experiments such as pick-and-place, injection, and cell indentation with probing from meso- to nanoscale are shown using salmon roe, modeled styren block and a dried yeast cell representing biological applications. A simulation environment was constructed to emulate potential experiments on the subnanoscale. Based on our lab-on-a-tip approach, we expect our proposal to become a multifunctional platform for biomanipulation. We describe an SMMS biomanipulation experiment on the extracellular scale and simulation for potential subcellular applications. Virtual reality (VR) simulation is used in rapid prototype manipulation or assembly models prior to actual biomanipulation experiments and is used as an experimental platform.
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Dascalu, Monica. "Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm." American Journal of Aerospace Engineering 3, no. 3 (2016): 36. http://dx.doi.org/10.11648/j.ajae.20160303.13.
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Takano, Tetsumasa, Asaka Ikeda, Isao Abe, and Takehito Kikuchi. "Improvement of Haptic Interface for Teleoperation Endoscopic Surgery Simulators Using Magnetorheological Fluid Devices." Journal of Robotics and Mechatronics 34, no. 6 (December 20, 2022): 1268–76. http://dx.doi.org/10.20965/jrm.2022.p1268.
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A magnetorheological (MR) fluid is a composite material comprising ferromagnetic particles, medium oils, and several types of additives. We developed an MR fluid clutch for haptics (H-MRC) and installed it in a haptic interface that simulates teleoperation endoscopic surgery (ES). To enhance its operability, we redesigned the H-MRC to reduce its weight and improve its control system. We reduced the weight of the H-MRC and haptic gripper by 77.0 g and 137.0 g, respectively. To evaluate the influence of the improvement and force feedback functions on remote operation skills, we conducted pick-and-place tests with a remotely controlled system. In the tests, we subjectively evaluated the NASA-TLX and quantitatively evaluated the success rate of the task. The results of the subjective assessment showed significant reductions in mental stress during the teleoperation task. In addition, the results of the quantitative evaluation showed that the force feedback function was effective against the teleoperation skills of the operators.
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Batty, Taran, Armin Ehrampoosh, Bijan Shirinzadeh, Yongmin Zhong, and Julian Smith. "A Transparent Teleoperated Robotic Surgical System with Predictive Haptic Feedback and Force Modelling." Sensors 22, no. 24 (December 13, 2022): 9770. http://dx.doi.org/10.3390/s22249770.
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In recent years, robotic minimally invasive surgery has transformed many types of surgical procedures and improved their outcomes. Implementing effective haptic feedback into a teleoperated robotic surgical system presents a significant challenge due to the trade-off between transparency and stability caused by system communication time delays. In this paper, these time delays are mitigated by implementing an environment estimation and force prediction methodology into an experimental robotic minimally invasive surgical system. At the slave, an exponentially weighted recursive least squares (EWRLS) algorithm estimates the respective parameters of the Kelvin–Voigt (KV) and Hunt–Crossley (HC) force models. The master then provides force feedback by interacting with a virtual environment via the estimated parameters. Palpation experiments were conducted with the slave in contact with polyurethane foam during human-in-the-loop teleoperation. The experimental results indicated that the prediction RMSE of error between predicted master force feedback and measured slave force was reduced to 0.076 N for the Hunt–Crossley virtual environment, compared to 0.356 N for the Kelvin–Voigt virtual environment and 0.560 N for the direct force feedback methodology. The results also demonstrated that the HC force model is well suited to provide accurate haptic feedback, particularly when there is a delay between the master and slave kinematics. Furthermore, a haptic feedback approach that incorporates environment estimation and force prediction improve transparency during teleoperation. In conclusion, the proposed bilateral master–slave robotic system has the potential to provide transparent and stable haptic feedback to the surgeon in surgical robotics procedures.
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Giri, Gowri Shankar, Yaser Maddahi, and Kourosh Zareinia. "An Application-Based Review of Haptics Technology." Robotics 10, no. 1 (February 5, 2021): 29. http://dx.doi.org/10.3390/robotics10010029.
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Recent technological development has led to the invention of different designs of haptic devices, electromechanical devices that mediate communication between the user and the computer and allow users to manipulate objects in a virtual environment while receiving tactile feedback. The main criteria behind providing an interactive interface are to generate kinesthetic feedback and relay information actively from the haptic device. Sensors and feedback control apparatus are of paramount importance in designing and manufacturing a haptic device. In general, haptic technology can be implemented in different applications such as gaming, teleoperation, medical surgeries, augmented reality (AR), and virtual reality (VR) devices. This paper classifies the application of haptic devices based on the construction and functionality in various fields, followed by addressing major limitations related to haptics technology and discussing prospects of this technology.
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Pacchierotti, C., L. Meli, F. Chinello, M. Malvezzi, and D. Prattichizzo. "Cutaneous haptic feedback to ensure the stability of robotic teleoperation systems." International Journal of Robotics Research 34, no. 14 (October 19, 2015): 1773–87. http://dx.doi.org/10.1177/0278364915603135.
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Su, Yun-Peng, Xiao-Qi Chen, Tony Zhou, Christopher Pretty, and Geoffrey Chase. "Mixed Reality-Enhanced Intuitive Teleoperation with Hybrid Virtual Fixtures for Intelligent Robotic Welding." Applied Sciences 11, no. 23 (November 29, 2021): 11280. http://dx.doi.org/10.3390/app112311280.
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This paper presents an integrated scheme based on a mixed reality (MR) and haptic feedback approach for intuitive and immersive teleoperation of robotic welding systems. By incorporating MR technology, the user is fully immersed in a virtual operating space augmented by real-time visual feedback from the robot working space. The proposed robotic tele-welding system features imitative motion mapping from the user’s hand movements to the welding robot motions, and it enables the spatial velocity-based control of the robot tool center point (TCP). The proposed mixed reality virtual fixture (MRVF) integration approach implements hybrid haptic constraints to guide the operator’s hand movements following the conical guidance to effectively align the welding torch for welding and constrain the welding operation within a collision-free area. Onsite welding and tele-welding experiments identify the operational differences between professional and unskilled welders and demonstrate the effectiveness of the proposed MRVF tele-welding framework for novice welders. The MRVF-integrated visual/haptic tele-welding scheme reduced the torch alignment times by 56% and 60% compared to the MRnoVF and baseline cases, with minimized cognitive workload and optimal usability. The MRVF scheme effectively stabilized welders’ hand movements and eliminated undesirable collisions while generating smooth welds.
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Bayraktaroglu, Zeki Y., Omer F. Argin, and Sinan Haliyo. "A modular bilateral haptic control framework for teleoperation of robots." Robotica 37, no. 2 (October 30, 2018): 338–57. http://dx.doi.org/10.1017/s0263574718001042.
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SUMMARYThis paper presents a novel approach to implement bilateral control loops between local haptic devices and remote industrial manipulators using a layer of simulation and virtual reality. The remote scene of manipulation has been visualized in an open-source software environment, where forward and inverse kinematics of the manipulators can be computed. Therefore, the explicit knowledge of mathematical models of the robots is not required for the implementation of the proposed bilateral control schemes. A haptic coupling has been designed between the human operator and the task in the remote environment. Virtually introduced force feedback has contributed to the performance of the proposed bilateral loop by facilitating the adaptation of unexperienced human operators. Teleoperation of one remote manipulator has been experimentally demonstrated with the proposed controllers. Structural modularity of the bilateral haptic control schemes makes them directly extendable for the teleoperation of multiple collaborative robots. Stability and transparency of the proposed bilateral haptic controllers have been theoretically and experimentally investigated.
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Huang, Kevin, Divas Subedi, Rahul Mitra, Isabella Yung, Kirkland Boyd, Edwin Aldrich, and Digesh Chitrakar. "Telelocomotion—Remotely Operated Legged Robots." Applied Sciences 11, no. 1 (December 28, 2020): 194. http://dx.doi.org/10.3390/app11010194.
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Teleoperated systems enable human control of robotic proxies and are particularly amenable to inaccessible environments unsuitable for autonomy. Examples include emergency response, underwater manipulation, and robot assisted minimally invasive surgery. However, teleoperation architectures have been predominantly employed in manipulation tasks, and are thus only useful when the robot is within reach of the task. This work introduces the idea of extending teleoperation to enable online human remote control of legged robots, or telelocomotion, to traverse challenging terrain. Traversing unpredictable terrain remains a challenge for autonomous legged locomotion, as demonstrated by robots commonly falling in high-profile robotics contests. Telelocomotion can reduce the risk of mission failure by leveraging the high-level understanding of human operators to command in real-time the gaits of legged robots. In this work, a haptic telelocomotion interface was developed. Two within-user studies validate the proof-of-concept interface: (i) The first compared basic interfaces with the haptic interface for control of a simulated hexapedal robot in various levels of traversal complexity; (ii) the second presents a physical implementation and investigated the efficacy of the proposed haptic virtual fixtures. Results are promising to the use of haptic feedback for telelocomotion for complex traversal tasks.
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Vicentini, Marco, and Debora Botturi. "Human Factors in Haptic Contact of Pliable Surfaces." Presence: Teleoperators and Virtual Environments 18, no. 6 (December 1, 2009): 478–94. http://dx.doi.org/10.1162/pres.18.6.478.
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This paper considers relevant human factors to interact with a pliable body in a teleoperation surgical environment. Our aim is to identify the human capabilities, in terms of penetration depth and responsiveness, in a task of pliable surface contact, where surgeons are required to adopt a specific behavior immediately after the contact. A psychophysical experiment is conducted using virtual surfaces rendered with two different force-feedback devices. The results show that impact velocity affects performance in surface contact perception. In a second experiment where different postures are used, we examine whether the previous results hold for the particular ergonomic configuration employed. The results show that posture affects performance especially in expert users. Our findings underscore the importance of understanding the interplay of human perceptual parameters in the surgical teleoperation framework.
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Oron-Gilad, Tal, Elizabeth S. Redden, and Yaniv Minkov. "Robotic Displays for Dismounted Warfighters." Journal of Cognitive Engineering and Decision Making 5, no. 1 (March 2011): 29–54. http://dx.doi.org/10.1177/1555343411399076.
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This study investigated the scalability of unmanned vehicle displays for dismounted warfighters. Task performance, workload, and preferences for three display devices were examined in two operational settings: teleoperation of an unmanned ground vehicle (UGV) and intelligence gathering from a remote unmanned vehicle. Previous research has demonstrated variability in operational needs with regard to active teleoperation versus passive intelligence gathering. Thus, it was important to identify whether there was actually a dichotomy between the two in terms of screen space requirements and whether this difference stems from task differences or other factors. Thirty-one soldiers participated in a field study at Fort Benning, Georgia. They were required to perform teleoperation and intelligence-gathering tasks. Results reconfirmed the hypothesis that display type influences performance in intelligence-related tasks that require the use of video feed and digital map. No significant differences among display types were found in the UGV teleoperation task. Dismounted warfighters can adequately perform both active and passive duties with a handheld device on which the video window is as small as 4.3 inches in diameter. However, monocular helmet-mounted displays for robotic displays can be problematic and should be carefully assessed before use in dismounted warfighters’ missions.
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Yoon, Woo-Keun, Toshihiko Goshozono, Hiroshi Kawabe, Masahiro Kinami, Yuichi Tsumaki, Masaru Uchiyama, Mitsushige Oda, and Toshitsugu Doi. "Teleoperation of Engineering Test Satellite VII Mounted Robotic Arm Using a Haptic Interface." Journal of the Robotics Society of Japan 19, no. 4 (2001): 518–27. http://dx.doi.org/10.7210/jrsj.19.518.
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Li, Jian, Qi Huang, and Mahdi Tavakoli. "Stability of cooperative teleoperation using haptic devices with complementary degrees of freedom." IET Control Theory & Applications 8, no. 12 (August 14, 2014): 1062–70. http://dx.doi.org/10.1049/iet-cta.2013.0522.
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Uzunoğlu, Emre, and Mehmet İsmet Can Dede. "Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication." Robotica 35, no. 5 (December 10, 2015): 1121–36. http://dx.doi.org/10.1017/s0263574715001010.
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SUMMARYIn this study, a bilateral teleoperation control algorithm is developed in which the model-mediation method is integrated with an impedance controller. The model-mediation method is also extended to three-degrees-of-freedom teleoperation. The aim of this controller is to compensate for instability issues and excessive forcing applied to the slave environment stemming from time delays in communication. The proposed control method is experimentally tested with two haptic desktop devices. Test results indicate that stability and passivity of the bilateral teleoperation system is preserved under variable time delays in communication. It is also observed that safer interactions of the slave system with its environment can be achieved by utilizing an extended version of the model-mediation method with an impedance controller.
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Guajardo Benavides, Evert J., and Marco A. Artega. "Parameter Identification for the Geomagic Touch Haptic Device." Memorias del Congreso Nacional de Control Automático 5, no. 1 (October 17, 2022): 121–26. http://dx.doi.org/10.58571/cnca.amca.2022.003.
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Haptic devices have become increasingly popular and have been part of different areas of research, such as medicine, teleoperation, 3D modeling, just to mention a few. However, given the demands required in some fields, such as automatic control, it is essential to know their parameters and model. Different efforts have arisen for this purpose, where parametric estimation and identification is the main purpose for the application of different control algorithms. One of the most widely used haptic devices in different areas is the emph {Geomagic Touch} from 3D company. This device has been used especially in haptic applications where kinematic and dynamic models are required. However, only a few contributions have taken into account the parametric identification of this device. The main contribution of this work is the identification of the parameters of the emph {Geomagic Touch} device where experimental tests were performed for validation by means of two control laws widely used in the literature.
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Huaroto, Juan J., Victor Ticllacuri, Etsel Suarez, Robert Ccorahua, and Emir A. Vela. "A Soft Pneumatic Haptic Actuator Mechanically Programmed for Providing Mechanotactile Feedback." MRS Advances 4, no. 19 (2019): 1131–36. http://dx.doi.org/10.1557/adv.2019.70.
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ABSTRACTTactile sense provides us with the necessary information and feedback to determined tasks. Within this context, haptic devices represent a growing and highly interesting field to be included in biomedical devices, teleoperation applications, and video games. These devices are usually developed with rigid materials, motors, and mechanisms to provide tactile feedback to individuals that corresponds to a defined task, producing pressure, tangential force or vibrations as stimuli on the skin. Here, we present a prototype of a soft pneumatic haptic device based on an inflatable hyperelastic membrane, that can provide two stimuli over skin such as pression and traction with only one input of energy. The device was fabricated using different types of silicone materials and membrane shapes. This exhibits experimentally a maximum vertical deformation of 13 mm and a tangential displacement of 10 mm at 7 kPa. These two mechanically programmed movements open the possibility of using this technology in mechano-tactile feedback for wearable devices, with low-cost hardware, soft interaction between devices and skin, and lightweight.
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Malysz, Pawel, and Shahin Sirouspour. "Trilateral teleoperation control of kinematically redundant robotic manipulators." International Journal of Robotics Research 30, no. 13 (March 22, 2011): 1643–64. http://dx.doi.org/10.1177/0278364911401053.
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Teleoperation control of kinematically redundant robots requires a strategy for resolving their redundancy. A trilateral two-master/one-slave control approach is proposed for delay-free applications in which the first master controls a primary task control frame, e.g. the slave end-effector frame; meanwhile, another master device can manipulate a secondary task frame attached to the slave robot, e.g. to avoid collision with obstacles in the task environment. Any remaining degrees of motion are resolved autonomously. Teleoperation control is achieved in three steps employing joint-space Lyapunov-based adaptive motion/force controllers, a velocity-level redundancy resolution method, and task-space coordinating reference commands. Priority can be given to either the primary or secondary control frame so that the high-priority task can be transparently carried out without interference from the other task. Whenever applicable, the lower-priority task control frame would be restricted to the natural constraints imposed by prioritization or otherwise, decoupling between the tasks is achieved with the use of an arbitrarily weighted pseudo-inverse. Experiments with a planar teleoperation system consisting of two master devices controlling a closed-chain four degree-of-motion redundant slave robot show the feasibility of the approach.
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Antoni, Sven-Thomas, Stefan Soltau, Jens Beringhoff, Omer Rajput, Christoph Otte, and Alexander Schlaefer. "Enhancing haptic feedback of subsurfaces during needle insertion." Current Directions in Biomedical Engineering 4, no. 1 (September 1, 2018): 625–28. http://dx.doi.org/10.1515/cdbme-2018-0150.
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AbstractHaptic feedback can be helpful for accurate needle insertion but is complicated by friction on the needle shaft. Concepts to directly measure the forces at the needle tip exist but cause additional cost and complexity. Moreover, haptic devices may show inaccuracies in recreating forces. We present a novel force feedback method that uses needle shaft forces and enhances haptic feedback of subsurfaces based on robotic ultrasound elastography. This approach allows to overcome accuracy limitations of haptic devices. We evaluate our method in a volunteer subject study using recordings from a robotic needle driver setup. We compare haptic feedback based on shaft and enhanced force for the detection of surfaces inside of gelatin phantoms. Using our method, the error of subsurface detection decreased from more than 16 to about 1.7 mm for the first subsurface. A second subsurface was solely detectable using our method with an error of only 1.4 mm. Insertion time decreased by more than 32%. The results indicate that our enhanced sensor is suitable to detect subsurfaces for untrained subjects using a haptic feedback device of limited accuracy.
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Fennel, Michael, Antonio Zea, and Uwe D. Hanebeck. "Intuitive and immersive teleoperation of robot manipulators for remote decontamination." at - Automatisierungstechnik 70, no. 10 (October 1, 2022): 888–99. http://dx.doi.org/10.1515/auto-2022-0057.
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Abstract Worker safety is one of the most important aspects of decontamination tasks in hazardous environments. This motivates the development of (semi-) autonomous robotic systems that can be teleoperated from a safe distance using simple commands such as ‘move the manipulator over there and grab’. In this paper, we introduce a new control station concept called Digital Twin Control System aimed at robots with manipulator arms. It consists of three components: (1) A unified communication interface that abstracts the remote robot’s functionalities into easy-to-use interaction modes, (2) an immersive visualization and assistant system to operate the interface, and (3) a haptic rendering system that can simulate arbitrary robot arms. We demonstrate how the proposed system can be used by untrained operators to pick up contaminated objects remotely in a test scenario.
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Wang, Zheng, Elias Giannopoulos, Mel Slater, and Angelika Peer. "Handshake: Realistic Human-Robot Interaction in Haptic Enhanced Virtual Reality." Presence: Teleoperators and Virtual Environments 20, no. 4 (August 1, 2011): 371–92. http://dx.doi.org/10.1162/pres_a_00061.
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This paper focuses on the development and evaluation of a haptic enhanced virtual reality system which allows a human user to make physical handshakes with a virtual partner through a haptic interface. Multimodal feedback signals are designed to generate the illusion that a handshake with a robotic arm is a handshake with another human. Advanced controllers of the haptic interface are developed to respond to user behaviors online. Techniques to achieve online behavior generation are presented, such as a hidden-Markov-model approach to human interaction strategy estimation. Human-robot handshake experiments were carried out to evaluate the performance of the system. Two different approaches to haptic rendering were compared in experiments: a controller in basic mode with an embedded curve in the robot that disregards the human partner, and an interactive robot controller for online behavior generation. The two approaches were compared with the ground truth of another human driving the robot via teleoperation instead of the controller implementing a virtual partner. In the evaluation results, the human approach is rated to be most human-like, with the interactive controller following closely behind, followed by the controller in basic mode. This paper mainly concentrates on discussing the development of the haptic rendering algorithm for the handshaking system, its integration with visual and haptic cues, and reports about the results of subjective evaluation experiments that were carried out.
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Saeidi, Hamed, John R. Wagner, and Yue Wang. "A Mixed-Initiative Haptic Teleoperation Strategy for Mobile Robotic Systems Based on Bidirectional Computational Trust Analysis." IEEE Transactions on Robotics 33, no. 6 (December 2017): 1500–1507. http://dx.doi.org/10.1109/tro.2017.2718549.
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Bell, Audrey K., and Caroline G. L. Cao. "How Does Artificial Force Feedback Affect Laparoscopic Surgery Performance?" Proceedings of the Human Factors and Ergonomics Society Annual Meeting 51, no. 11 (October 2007): 646–50. http://dx.doi.org/10.1177/154193120705101109.
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The use of haptic devices to provide force feedback in teleoperation has been shown to enhance performance. An experiment was conducted to examine whether artificial force feedback is utilized in the same manner as real force feedback in a simulated laparoscopic tissue-probing task. Forces in probing a double-layer silicon gel mass were replicated and exaggerated in a virtual environment using a haptic device. Ten subjects performed the probing task in four different conditions: 1) realistic force feedback, 2) exaggerated feedback, 3) disproportionately exaggerated forces, and 4) reversed and disproportionately exaggerated forces. Results showed a significantly higher maximum force, detection time and error rate in virtual probing than in real probing. Time to task completion was significantly different between the virtually realistic and exaggerated force feedback conditions. These results suggest that artificial force information may be processed differently than real haptic information, leading to higher force application, inefficiency, and reduced accuracy in tissue probing tasks.
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Krishnaswamy, Kailash, and Perry Y. Li. "Bond Graph Based Approach to Passive Teleoperation of a Hydraulic Backhoe." Journal of Dynamic Systems, Measurement, and Control 128, no. 1 (November 19, 2005): 176–85. http://dx.doi.org/10.1115/1.2168475.
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Human operated, hydraulic actuated machines are widely used in many high-power applications. Improving productivity, safety and task quality (e.g., haptic feedback in a teleoperated scenario) has been the focus of past research. For robotic systems that interact with the physical environments, passivity is a useful property for ensuring safety and interaction stability. While passivity is a well utilized concept in electromechanical robotic systems, investigation of electrohydraulic control systems that enforce this passivity property are rare. This paper proposes and experimentally demonstrates a teleoperation control algorithm that renders a hydraulic backhoe/force feedback joystick system as a two-port, coordinated, passive machine. By fully accounting for the fluid compressibility, inertia dynamics and nonlinearity, coordination performance is much improved over a previous scheme in which the coordination control approximates the hydraulic system by its kinematic behavior. This is accomplished by a novel bond graph based three step design methodology: (1) energetically invariant transformation of the system into a pair of “shape” and “locked” subsystems; (2) inversion of the shape system bond graph to derive the coordination control law; (3) use of the locked system bond graph to derive an appropriate control law to achieve a target locked system dynamics while ensuring the passivity property of the coordinated system. The proposed passive control law has been experimentally verified for its bilateral energy transfer ability and performance enhancements.
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Xu, Baoguo, Wenlong Li, Xiaohang He, Zhiwei Wei, Dalin Zhang, Changcheng Wu, and Aiguo Song. "Motor Imagery Based Continuous Teleoperation Robot Control with Tactile Feedback." Electronics 9, no. 1 (January 17, 2020): 174. http://dx.doi.org/10.3390/electronics9010174.
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Brain computer interface (BCI) adopts human brain signals to control external devices directly without using normal neural pathway. Recent study has explored many applications, such as controlling a teleoperation robot by electroencephalography (EEG) signals. However, utilizing the motor imagery EEG-based BCI to perform teleoperation for reach and grasp task still has many difficulties, especially in continuous multidimensional control of robot and tactile feedback. In this research, a motor imagery EEG-based continuous teleoperation robot control system with tactile feedback was proposed. Firstly, mental imagination of different hand movements was translated into continuous command to control the remote robotic arm to reach the hover area of the target through a wireless local area network (LAN). Then, the robotic arm automatically completed the task of grasping the target. Meanwhile, the tactile information of remote robotic gripper was detected and converted to the feedback command. Finally, the vibrotactile stimulus was supplied to users to improve their telepresence. Experimental results demonstrate the feasibility of using the motor imagery EEG acquired by wireless portable equipment to realize the continuous teleoperation robot control system to finish the reach and grasp task. The average two-dimensional continuous control success rates for online Task 1 and Task 2 of the six subjects were 78.0% ± 6.1% and 66.2% ± 6.0%, respectively. Furthermore, compared with the traditional EEG triggered robot control using the predefined trajectory, the continuous fully two-dimensional control can not only improve the teleoperation robot system’s efficiency but also give the subject a more natural control which is critical to human–machine interaction (HMI). In addition, vibrotactile stimulus can improve the operator’s telepresence and task performance.
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Congedo, Marco, Anatole Lécuyer, and Edouard Gentaz. "The Influence of Spatial Delocation on Perceptual Integration of Vision and Touch." Presence: Teleoperators and Virtual Environments 15, no. 3 (June 1, 2006): 353–57. http://dx.doi.org/10.1162/pres.15.3.353.
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How do we perceive objects when what we see and what we touch is not at the same place? In a virtual environment, we observed that spatial delocation promotes visual dominance when judging the rotation angle of a hand-operated handle. Thus, the delocation of perceptual information appears to increase considerably the weight of the dominant sense at the expense of the other. We relate this result to the design of teleoperation and virtual reality systems, in which, typically, the visual and haptic sensory information originates in spatially distinct devices.
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Speeter, Thomas H. "Transforming Human Hand Motion for Telemanipulation." Presence: Teleoperators and Virtual Environments 1, no. 1 (January 1992): 63–79. http://dx.doi.org/10.1162/pres.1992.1.1.63.
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Manipulation by teleoperation (telemanipulation) offers an apparently straightforward and less computationally expensive route toward dextrous robotic manipulation than automated control of multifingered robotic hands. The functional transformation of human hand motions into equivalent robotic hand motions, however, presents both conceptual and analytical problems. This paper reviews and proposes algorithmic methods for transforming the actions of human hands into equivalent actions of slave multifingered robotic hands. Forward positional transformation is considered only, the design of master devices, feedforward dynamics, and force feedback are not considered although their importance for successful telemanipulation is understood. Linear, nonlinear, and functional mappings are discussed along with performance and computational considerations.
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Leonardis, Daniele, Luca Tiseni, Domenico Chiaradia, and Antonio Frisoli. "A Twisted String, Flexure Hinges Approach for Design of a Wearable Haptic Thimble." Actuators 10, no. 9 (August 29, 2021): 211. http://dx.doi.org/10.3390/act10090211.
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Wearable haptic devices in the shape of actuated thimbles are used to render the sense of touch in teleoperation and virtual reality scenarios. The design of similar devices has to comply with concurring requirements and constraints: lightweight and compactness, intensity and bandwidth of the rendered signals. Micro-sized motors require a mechanical reduction to increase the output force, at the cost of noise and vibrations introduced by conventional gear reducers. Here we propose a different actuation method, based on a miniaturized twisted string actuator and a flexure hinge transmission mechanism. The latter is required to transmit and transform the pulling force of the twist actuator to a pushing force of the plate in contact with the fingerpad. It achieves a lightweight and noiseless actuation in a compact mechanism. In this work, we present design guidelines of the proposed approach, optimization, and FEM analysis of the flexure hinge mechanism, implementation of the prototype, and experimental characterization of the twist actuator measuring frequency response and output force capabilities.
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Zubrycki, Igor, and Grzegorz Granosik. "Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface." Journal of Intelligent & Robotic Systems 85, no. 3-4 (June 15, 2016): 413–29. http://dx.doi.org/10.1007/s10846-016-0392-6.
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AbstractThis paper presents a new type of wearable haptic device which can augment a sensor glove in various tasks of telemanipulation. We present the details of its two alternative designs jamming tubes or jamming pads, and their control system. These devices use the jamming phenomena to change the stiffness of their elements and block the hand movement when a vacuum is applied. We present results of our experiments to measure static and dynamic changes in stiffness, which can be used to change the perception of grabbing hard or soft objects. The device, at its current state is capable of resisting forces of up to 7 N with 5 mm displacement and can simulate hardness up to the hardness of a rubber. However, time necessary for a complete change of stiffness is high (time constant 0.5 s); therefore, additional cutaneous interface was added in a form of small vibration motors. Finally, we show an application of the haptic interface in our teleoperation system to provide the operator with haptic feedback in a light weight and simple form.
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Xi, Bao, Shuo Wang, Xuemei Ye, Yinghao Cai, Tao Lu, and Rui Wang. "A robotic shared control teleoperation method based on learning from demonstrations." International Journal of Advanced Robotic Systems 16, no. 4 (July 2019): 172988141985742. http://dx.doi.org/10.1177/1729881419857428.
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In teleoperation, the operator is often required to command the motion of the remote robot and monitor its behavior. However, such an interaction demands a heavy workload from a human operator when facing with complex tasks and dynamic environments. In this article, we propose a shared control method to assist the operator in the manipulation tasks to reduce the workload and improve the efficiency. We adopt a task-parameterized hidden semi-Markov model to learn a manipulation skill from several human demonstrations. We utilize the learned model to predict the manipulation target given the current observed robotic motion trajectory and subsequently estimate the desired robotic motion given the current input of the operator. The estimated robotic motion is then utilized to correct the input of the operator to provide manipulation assistance. In addition, a set of virtual reality devices are used to capture the operator’s motion and display the vision feedback from the remote site. We evaluate our approach through two manipulation tasks with a dual-arm robot. The experimental results show the effectiveness of the proposed method.
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Fang, Bin, Fuchun Sun, Huaping Liu, and Di Guo. "A novel data glove using inertial and magnetic sensors for motion capture and robotic arm-hand teleoperation." Industrial Robot: An International Journal 44, no. 2 (March 20, 2017): 155–65. http://dx.doi.org/10.1108/ir-07-2016-0179.
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Purpose The purpose of this paper is to present a novel data glove which can capture the motion of the arm and hand by inertial and magnetic sensors. The proposed data glove is used to provide the information of the gestures and teleoperate the robotic arm-hand. Design/methodology/approach The data glove comprises 18 low-cost inertial and magnetic measurement units (IMMUs) which not only make up the drawbacks of traditional data glove that only captures the incomplete gesture information but also provide a novel scheme of the robotic arm-hand teleoperation. The IMMUs are compact and small enough to wear on the upper arm, forearm, palm and fingers. The calibration method is proposed to improve the accuracy of measurements of units, and the orientations of each IMMU are estimated by a two-step optimal filter. The kinematic models of the arm, hand and fingers are integrated into the entire system to capture the motion gesture. A positon algorithm is also deduced to compute the positions of fingertips. With the proposed data glove, the robotic arm-hand can be teleoperated by the human arm, palm and fingers, thus establishing a novel robotic arm-hand teleoperation scheme. Findings Experimental results show that the proposed data glove can accurately and fully capture the fine gesture. Using the proposed data glove as the multiple input device has also proved to be a suitable teleoperating robotic arm-hand system. Originality/value Integrated with 18 low-cost and miniature IMMUs, the proposed data glove can give more information of the gesture than existing devices. Meanwhile, the proposed algorithms for motion capture determine the superior results. Furthermore, the accurately captured gestures can efficiently facilitate a novel teleoperation scheme to teleoperate the robotic arm-hand.
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Hashemzadeh, Farzad, Iraj Hassanzadeh, Mahdi Tavakoli, and Ghasem Alizadeh. "A New Method for Bilateral Teleoperation Passivity under Varying Time Delays." Mathematical Problems in Engineering 2012 (2012): 1–19. http://dx.doi.org/10.1155/2012/792057.
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A new framework is proposed to mitigate the adverse effect of time-varying time delays on the passivity of a teleoperation system. To this end, the communication channel with time-varying delays is modeled as a constant-delay channel along with additive output disturbances. Then, disturbance estimator blocks are added in each of the feedforward and feedback paths to estimate these disturbances and to compensate for them. In the disturbance estimator block, there is a need for a virtual time-varying delay block such that the overall communication channel can be seen as one with a constant delay. We also propose a method for determining this virtual delay. Two PHANToM haptic devices connected through a communication channel with time-varying delays are considered for a case study. Simulation and experimental results confirm the efficiency of the proposed method in terms of passivating the teleoperation system in the presence of time-varying delays.
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Thilmany, Jean. "A Touching Sensation." Mechanical Engineering 125, no. 11 (November 1, 2003): 30–32. http://dx.doi.org/10.1115/1.2003-nov-1.
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This article discusses Haptics technology that is being used to train surgeons and rehabilitate patients. Haptics technology, a recent enhancement to virtual reality technology, gives users the touch and feel of simulated objects they interact with, usually through a device like a specialized mouse or a haptic glove. John Hollerbach, a computing professor and an adjunct professor of mechanical engineering at the University of Utah, says haptic devices and robotic devices share the same drawbacks, particularly involving limits to the miniaturization of motors. Haptic devices that fit the hand, like the one sold by Immersion Corp., or the force-feedback glove developed at Rutgers give the wearer a sense of touch, as if one is squeezing a ball or tracing an object. Hollerbach of the University of Utah said the future looks bright for haptics. The Rutgers ankle simulates walking over several types of terrain for patients undergoing physical therapy. Haptics can simulate assembling a part to ensure that it is designed for easy construction.
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Zhang, Linshuai, Shuoxin Gu, Shuxiang Guo, and Takashi Tamiya. "A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization." Micromachines 12, no. 6 (May 30, 2021): 640. http://dx.doi.org/10.3390/mi12060640.
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A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels.
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Schäfer, Max B., Bha A. Al-Abboodi, and Peter P. Pott. "Haptic User Interface of a Cable-Driven Input Device to Control the End Effector of a Surgical Telemanipulation System." Current Directions in Biomedical Engineering 7, no. 2 (October 1, 2021): 211–14. http://dx.doi.org/10.1515/cdbme-2021-2054.
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Abstract In robotic telemanipulation for minimally-invasive surgery, lack of haptic sensation and non-congruent movement of input device and manipulator are major drawbacks. Input devices based on cable-driven parallel mechanisms have the potential to be a stiff alternative to input devices based on rigid parallel or serial kinematics by offering low inertia and a scalable workspace. In this paper, the haptic user interface of a cable-driven input device and its technical specifications are presented and assessed. The haptic user interface allows to intuitively control the gripping movement of the manipulator’s end effector by providing a two-finger precision grasp. By design, the interface allows to command input angles between 0° and 45°. Furthermore, interaction forces from the manipulator’s end effector can be displayed to the user’s twofinger grasp in a range from 0 N to 6 N with a frequency bandwidth of 17 Hz.
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Tobergte, Andreas. "MiroSurge—Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery." Presence: Teleoperators and Virtual Environments 19, no. 5 (October 1, 2010): 400–414. http://dx.doi.org/10.1162/pres_a_00022.
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This paper presents MiroSurge, a telepresence system for minimally invasive surgery developed at the German Aerospace Center (DLR), and introduces MiroSurge's new user interaction modalities: (1) haptic feedback with software-based preservation of the fulcrum point, (2) an ultrasound-based approach to the quasi-tactile detection of pulsating vessels, and (3) a contact-free interface between surgeon and telesurgery system, where stereo vision is augmented with force vectors at the tool tip. All interaction modalities aim to increase the user's perception beyond stereo imaging by either augmenting the images or by using haptic interfaces. MiroSurge currently provides surgeons with two different interfaces. The first option, bimanual haptic interaction with force and partial tactile feedback, allows for direct perception of the remote environment. Alternatively, users can choose to control the surgical instruments by optically tracked forceps held in their hands. Force feedback is then provided in augmented stereo images by constantly updated force vectors displayed at the centers of the teleoperated instruments, regardless of the instruments' position within the video image. To determine the centerpoints of the instruments, artificial markers are attached and optically tracked. A new approach to detecting pulsating vessels beneath covering tissue with an omnidirectional ultrasound Doppler sensor is presented. The measurement results are computed and can be provided acoustically (by displaying the typical Doppler sound), optically (by augmenting the endoscopic video stream), or kinesthetically (by a gentle twitching of the haptic input devices). The control structure preserves the fulcrum point in minimally invasive surgery and user commands are followed by the surgical instrument. Haptic feedback allows the user to distinguish between interaction with soft and hard environments. The paper includes technical evaluations of the features presented, as well as an overview of the system integration of MiroSurge.