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We present the design and implementation of a flexible force-vision-based interface; allowing local operators to visually specify a path constraint to a remote robot manipulator in an on-line fashion during the teleoperation. Using bilateral and unilateral configurations, we compare our system to direct teleoperation through user studies. Three performance metrics (smoothness, error and execution...
Robotic manipulators that use joystick interfaces for telemanipulation take time and effort to master and lack an intuitive basis for human robot interaction. These factors can hamper operator performance, increase cognitive workload, and limit overall user effectiveness on highly dexterous tasks. Master-slave interfaces (MSIs) used in the fields of animatronics, telesurgery, and hazardous materials...
When a person interacts with an environment using a tool, he/she receives tactile information in the form of fingerpad skin deformation. Different interaction forces and torques on the tool cause different skin deformation patterns on the fingerpads. We designed a 6-degree-of-freedom tactile device that creates similar skin deformation patterns on the fingerpads. The device communicates force and...
This paper deals with the stabilizing control of the double spherical inverted pendulum using a planer manipulator and a vision sensor. It has some interesting features as a nonlinear system with many degrees of freedom. The authors focus especially on its systematic modeling, nonlinear controller design based on the linearization method, and the visual measurement. Experiments have been successfully...
A method for uncertain plane surface tracing Based on vision and force sensing is proposed. A stereo vision system is employed to estimate the normal direction of the plane surface and to control the end-effector's motions which are parallel to the plane surface. A force sensor is used to acquire the contact force information between the end-effector and the environment and to control the end-effector's...
In teleoperation, haptic feedback allows the human operator to touch the remote environment. Yet, it is only partially understood to what extent the quality of haptic feedback contributes to human-in-the-loop task performance. This paper presents a human factors experiment in which teleoperated task performance and control effort are assessed for a typical (dis-)assembly task in a hard-to-hard environment,...
In this paper, we present a novel use of haptic information in extended range telepresence, the wide-area haptic guidance. It consists of force and position signals applied to the user's hand in order to improve safety, accuracy, and speed in some telepresent tasks. Wide-area haptic guidance assists the user in reaching a desired position in a remote environment of arbitrary size without degrading...
Force feedback systems have been developed to improve the user-friendliness of robotic surgery systems. In teleoperative surgery, one of the major problems is the delay of the transmission of the information from the operation site to the surgery site. The transmission delays of the control signal and force information are less than the that of the image signal. In many cases, the visual information...
The operator usually uses his hands to perform manipulation tasks. She has to feel the reaction forces in high-precision manipulation. The mechanism applied in the human interface device for force and tactile feedback is the most challenging (and usually the most expensive) part of a telepresence device. Bilateral control is a common solution in these systems. However, the coupled force and position...
Most prosthetic hand users are limited to visual feedback of movement performance. To characterize the benefit of vibrotactile feedback for a task that lacks haptic feedback, a virtual environment was used to experimentally manipulate visual, task-relevant haptic, and remote vibrotactile feedback on simple object manipulation for unimpaired subjects. The combination of visual and remote vibrotactile...
A general effort in telemanipulation is to establish as many and as high quality sensory channels as possible between the human operator and the remote site. However, most of the tasks require only a portion of human sensory skills, typically - besides visual information - kinesthetic, haptic and tactile force-feedback. But realizing teleoperators providing transparent force-feedback over a long distance...
In 2D microassembly applications, it is inevitable to position and orient polygonal micro-objects lying on a flat surface. Point contact pushing of micro-objects provides a feasible way to achieve the task and it is more flexible and less complex compared to pick and place operation. Due to the fact that in micro-world surface forces are much more dominant than inertial forces, and tend to be unevenly...
In situations where generating in internal representation of an object's shape can not be carried out via visual methods, such as in low light conditions or due to a hardware fault, an internal representation of the object must be built from tactile information alone. Existing methods for doing so rely on the availability of a complete force sensitive skin. The work described in this paper shows a...
This paper presents a haptic rendering technique for a telemanipulation system of deformable objects using image processing techniques and physically based modeling. The interaction forces between an instrument driven by a haptic device and a deformable object are inferred in real time based on a continuum mechanics model of the object, which consists of a boundary element model and a prior knowledge...
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