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The haptic illusion based force feedback, known as pseudo-haptics, is used to simulate haptic explorations, such as stiffness, without using a force feedback device. There are many computer mouse based pseudo-haptics work reported in the literature. However, none has explored the mechanics of the pseudohaptics. The objective of this paper is to derive an analytical relation between the displacement...
This paper focuses on interactive motion planning processes intended to assist a human operator when simulating industrial tasks in Virtual Reality. Such applications need motion planning on surfaces. We propose an original haptic path planning algorithm with contact, H-RRT-C, based on a RRT planner and a real-time interactive approach involving a haptic device for computer-operator authority sharing...
In this study, we developed a 4-degrees of freedom (DOF) force feedback device independent of its operational component comprising pneumatic artificial muscles and magnetorheological clutches. Research and development of force feedback devices is becoming popular in fields such as entertainment, remote operation, and rehabilitation. These areas of research are related to virtual reality and augmented...
In this paper, a cable-driven haptic interface able to move in the six-dimensional space, suitable for applications in various robotic scenarios is presented. The device takes advantage of four force-controlled twisted string actuators to generate a linear force along the three Cartesian space dimensions while providing a considerable force-weight ratio and low inertia. The system consists of a frame...
This paper proposes a force feedback compliance force lock for biltateral control based on sensor-less sensor Reaction Force Observer (RFOB). The force limit is defined by the operator in advance based on the experience. The force lock protects the object which is in contact with the slave actuator from excessive force imposed by the master operator in bilateral control. A small vibration has been...
Children with hemiplegia have movements' difficulties especially in their upper limbs, these difficulties occur due to the loss of the communication between the brain and the affected side of the body. In this study, visual, audio, and tactile stimulation were provided to the patients to reactivate the communication between their brains and their affected upper limbs. Haptic stimulation control strategy...
This research proposes a Kalman filter-based equivalent elastic force feedback approach for time-delay compensation. This research shows that the time-varying delay can be regarded as noise in the input and output signals. In order to achieve robustness, this research proposes a Kalman filter-based state observer (KFSO) in the time-delay system for the estimation and the compensation of the disturbance...
The progress of robotic technology in the last years paved the way for its application in the healthcare sector. In the light of demographic change and lack of nursing staff, telerobotic systems are a promising solution e.g. for homecare in rural areas or in quarantine stations to prevent dissemination of pathogens. This paper presents a user study investigating human performance when teleoperating...
Wearable glove type haptic interfaces are often required to be light weight, which constrains the actuator to exert low torques. This causes a virtual object to feel compliant, reducing the range of presented surface properties. To overcome the limitation, we propose to compensate the hardness of a virtual object with cutaneous feedback. A cutaneous haptic interface is designed to present the hardness...
Multiple robotic agents, autonomous or teleoperated, can be employed to synergise and cooperate to achieve a common objective more effectively. Tasks using robotic manipulators can be eased and improved in terms of reliability, adaptability and ergonomics via robot cooperation. In spite of visual and haptic feedback, cooperative telemanipulation of multiple robots by distant operators can still be...
This paper examines the capability to incorporate spatial force feedback to the human toe when teleoperating a robotic arm in a force task. Due to the growing complexity of teleoperated systems new means of feedback get increasingly important. To investigate the viability of spatial toe-feedback, experiments with 12 subjects were conducted. The participants had to teleoperate a DLR Light-Weight Robot...
Shared control is a key technology for various robotic applications in which a robotic system and a human operator are meant to collaborate efficiently. In order to achieve efficient task execution in shared control, it is essential to predict the desired behavior for a given situation or context in order to simplify the control task for the human operator. This prediction is obtained by exploiting...
The paper presents a tactile sensor design mimicking human finger touch to differentiate tissue hardness for endosurgical palpation applications. The sensor comprises two inkjet-printed piezoresistive graphene-based sensing elements linked back-to-back for force and displacement detection, respectively. Experimental results indicate the sensor registers 2.1 and 5.3 mN force feedback from the fat and...
This work presents an evaluation study in which the effects of a penalty-based and a constraint-based haptic rendering algorithm on the user performance and perception are analyzed. A total of N = 24 participants performed in a within-design study three variations of peg-in-hole tasks in a virtual environment after trials in an identically replicated real scenario as a reference. In addition to the...
An inexpensive Kinect color/depth camera can be used to give feedback to physical therapy patients. We compare the steadiness and repeatability of finger force on a deformable object for physical therapists given no feedback, as well as for untrained subjects who are provided with feedback from force sensors, or with feedback from Kinect depth, or with no feedback. For force repeatability, it is found...
A desktop force feedback device is able to render reaction force of virtual objects. However, the desktop type limits operator's motion. In contrast, a wearable force feedback device allows us to interact with virtual objects while moving in virtual space. In this study, we have developed a 1-DOF wearable force feedback device with MR brake and pneumatic artificial muscles. These actuators are lightweight,...
Bilateral telemanipulation refers to frameworks in which a human operator manipulates a master robotic interface and a slave robotic device emulates the behavior of the master, while haptic feedback is provided to the operator. For multi-contact bilateral teleoperation wc intend master and slave systems that can establish multiple contact points with the user and with the environment. A paradigmatic...
In this paper, a hand exoskeleton system for virtual reality is proposed. As a virtual reality interface for the hand, a wearable system should be able to measure finger joint angles and apply force feedback to the fingers with a simple and light design. In the proposed system, the finger joint angles are measured by a tendon-inspired cable mechanism. Also, another cable is used for force feedback...
The Wolverine is a mobile, wearable haptic device designed for simulating the grasping of rigid objects in a virtual reality interface. In contrast to prior work on wearable force feedback gloves, we focus on creating a low cost and lightweight device that renders a force directly between the thumb and three fingers to simulate objects held in pad opposition (precision) type grasps. Leveraging low-power...
This paper describes the design of the integrated jet-pipe servo-valve with high reliability, including the design scheme, the dynamic sealing structure for pistons, the structure design and optimization for hydrodynamic force compensation, the key indicators and parameters calculation, simulation and experimental verification. According to the large valve port opening size, mechanical operability...
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