Future Society Opened by Real Haptics. Kouhei OHNISHI, Yuki SAITO, Satoshi FUKUSHIMA, Takuya MATSUNAGA, Takahiro NOZAKI
|
|
- Drusilla Montgomery
- 5 years ago
- Views:
Transcription
1 Future Society Opened by Real Haptics *1 *1 *1 *1 *1 Kouhei OHNISHI, Yuki SAITO, Satoshi FUKUSHIMA, Takuya MATSUNAGA, Takahiro NOZAKI Real haptics has been a unsolved problem since its starting in 1940 s. After many R&Ds including the early works in US and other countries, the bilateral control designed in acceleration space solves this issue. The quality of the touching and tactile sensation is heavily depends on transperancy between master side and slave side. The robust motion control which is equal to the acceleration control gives high transperancy. The real haptics is now key concept in 21st century where QOL should be the basis of the society. The various examples are also shown. Keywords: real haptics, bilateral control, synchronization, tactile sensation, haptic communication. ( ) [1] ohnishi@sd.keio.ac.jp *1 [2] Raymond Goertz [3] [4,5,6] hapticshaptic technology [6,7] haptic call 9
2 telephone 2.2 Goertz 1) 2) [8] [8] [8] Fig. 1 Fig. 1 Block diagram of bilateral control. Hybrid m m s (1) s Hybrid 0B [9] 10
3 [8] [8] [8] 2.3 (1) (1) (3) Hadamard (3) (2) [10] (4) (Acceleration-based Bilateral Control: ABC ) (2) 11
4 Fig. 3 Fig. 4 Fig. 2 Block diagram of ABC system. CPU Fig.4 Experimental results of haptic steering wheel. 2.4 ABC Fig. 3 ABC ABC 3.1 Fig. 3 Haptic steering wheel for preliminary experiment. ABC 12
5 Fig. 5 Fig (a) (b) Fig. 5 Motion record by real haptics (a) and playback without master operator (b). (left side is slave and right side is master) ABC Fig. 6 Real haptics (top), motion playback (middle) and virtual haptics (bottom). 13
6 M/N ABC % 65 [11] 20 Jeremy Bentham the greatest happiness of the greatest number ( )standardization 21 BRICS QOLquality of life 20 Fig. 7 Fig. 8 3D CAD Fig. 7 Prosthetic hand based on real haptics. 14
7 Fig. 8 Drawing of artificial arm and finger master. [12] Fig. 9 30% [12] Fig. 10 Making a knot by haptic forceps operated by surgeon. Fig. 9 Prosthetic hand by real haptics and EMG hand with performance example measured by time. Fig. 10 [13] LSI Fig. 11 Fig. 11 LSI module for real haptics. QOL 15
8 QOL LSI [1] (,,),,, [2] Stanley E. Jones, Elaine Yarbrough, A naturalistic study of the meanings of touch, Communication Monographs, Volume 52, Issue1, pp , [3] Raymond C. Goertz, Remote-control manipulator, US Patent A, manipulator-ray-goertz-american/ [4] Raymond C. Goertz, Fundamentals of general-purpose remote manipulators, Nucleonics, Volume 10, pp , [5] Bruno Siciliano, Oussama Khatib (Editors), Chapter 31, Handbook of Robotics, Springer, [6] Matthew T. Mason, Creation myths: The beginnings of robotics research, IEEE Robotics & Automation Magazine, Issue 2, pp , [7] Peter F. Hokayem, Mark W. Spong, Bilateral teleoperation: An historical survey, Automatica, Volume 42, Issue 12, pp , [8],,, No. 297, pp , [9] Wataru Iida, Kouhei Ohnishi, Reproducibility and operationality in bilateral teleoperation, Proceedings of the 8th IEEE International Workshop on Advanced Motion Control, pp , March [10] Asif Sabanovic, Kouhei Ohnishi, Motion control systems, (ISBN ), John Wiley & Sons, [11], 28, 28pdf_index.html, [12] Satoshi Fukushima, Takahiro Nozaki, Kouhei Ohnishi, Development of haptic prosthetic hand for realization of intuitive operation, Proceedings of the 42nd Annual Conference of the IEEE IECON 2016, October [13] Takuya Matsunaga, Guillaume Fau, Shuhei Shimizu, Kazuki Tanida, Takahiro Mizoguchi, Kouhei Ohnishi, Double hands manipulation with force sensation realized by multi dof forceps robots, Proceedings of the 41st Annual Conference of the IEEE IECON 2015, November
Investigation on MDOF Bilateral Teleoperation Control System Using Geared DC-Motor
Modern Applied Science; Vol. 10, No. 11; 2016 ISSN 1913-1844 E-ISSN 1913-1852 Published by Canadian Center of Science and Education Investigation on MDOF Bilateral Teleoperation Control System Using Geared
More informationBenefits of using haptic devices in textile architecture
28 September 2 October 2009, Universidad Politecnica de Valencia, Spain Alberto DOMINGO and Carlos LAZARO (eds.) Benefits of using haptic devices in textile architecture Javier SANCHEZ *, Joan SAVALL a
More informationInvestigation on Standardization of Modal Space by Ratio for MDOF Micro-Macro Bilateral Teleoperation Control System
Modern Applied Science; Vol. 10, No. 11; 2016 ISSN 1913-1844 E-ISSN 1913-1852 Published by Canadian Center of Science and Education Investigation on Standardization of Modal Space by Ratio for MDOF Micro-Macro
More informationLecture 9: Teleoperation
ME 327: Design and Control of Haptic Systems Autumn 2018 Lecture 9: Teleoperation Allison M. Okamura Stanford University teleoperation history and examples the genesis of teleoperation? a Polygraph is
More informationMedical Robotics. Part II: SURGICAL ROBOTICS
5 Medical Robotics Part II: SURGICAL ROBOTICS In the last decade, surgery and robotics have reached a maturity that has allowed them to be safely assimilated to create a new kind of operating room. This
More informationInternational Journal of Mechanical & Mechatronics Engineering IJMME-IJENS Vol:16 No: L. J. Wei, A. Z. Hj Shukor, M. H.
International Journal of Mechanical & Mechatronics Engineering IJMME-IJENS Vol:16 No:01 54 Investigation on the Effects of Outer-Loop Gains, Inner-Loop Gains and Variation of Parameters on Bilateral Teleoperation
More information2. Introduction to Computer Haptics
2. Introduction to Computer Haptics Seungmoon Choi, Ph.D. Assistant Professor Dept. of Computer Science and Engineering POSTECH Outline Basics of Force-Feedback Haptic Interfaces Introduction to Computer
More informationMEAM 520. Haptic Rendering and Teleoperation
MEAM 520 Haptic Rendering and Teleoperation Katherine J. Kuchenbecker, Ph.D. General Robotics, Automation, Sensing, and Perception Lab (GRASP) MEAM Department, SEAS, University of Pennsylvania Lecture
More informationMEAM 520. Haptic Rendering and Teleoperation
MEAM 520 Haptic Rendering and Teleoperation Katherine J. Kuchenbecker, Ph.D. General Robotics, Automation, Sensing, and Perception Lab (GRASP) MEAM Department, SEAS, University of Pennsylvania Lecture
More informationA Feasibility Study of Time-Domain Passivity Approach for Bilateral Teleoperation of Mobile Manipulator
International Conference on Control, Automation and Systems 2008 Oct. 14-17, 2008 in COEX, Seoul, Korea A Feasibility Study of Time-Domain Passivity Approach for Bilateral Teleoperation of Mobile Manipulator
More informationHaptics CS327A
Haptics CS327A - 217 hap tic adjective relating to the sense of touch or to the perception and manipulation of objects using the senses of touch and proprioception 1 2 Slave Master 3 Courtesy of Walischmiller
More informationVIRTUAL REALITY Introduction. Emil M. Petriu SITE, University of Ottawa
VIRTUAL REALITY Introduction Emil M. Petriu SITE, University of Ottawa Natural and Virtual Reality Virtual Reality Interactive Virtual Reality Virtualized Reality Augmented Reality HUMAN PERCEPTION OF
More informationRobust Haptic Teleoperation of a Mobile Manipulation Platform
Robust Haptic Teleoperation of a Mobile Manipulation Platform Jaeheung Park and Oussama Khatib Stanford AI Laboratory Stanford University http://robotics.stanford.edu Abstract. This paper presents a new
More informationNovel machine interface for scaled telesurgery
Novel machine interface for scaled telesurgery S. Clanton, D. Wang, Y. Matsuoka, D. Shelton, G. Stetten SPIE Medical Imaging, vol. 5367, pp. 697-704. San Diego, Feb. 2004. A Novel Machine Interface for
More informationHAND-SHAPED INTERFACE FOR INTUITIVE HUMAN- ROBOT COMMUNICATION THROUGH HAPTIC MEDIA
HAND-SHAPED INTERFACE FOR INTUITIVE HUMAN- ROBOT COMMUNICATION THROUGH HAPTIC MEDIA RIKU HIKIJI AND SHUJI HASHIMOTO Department of Applied Physics, School of Science and Engineering, Waseda University 3-4-1
More informationISMCR2004. Abstract. 2. The mechanism of the master-slave arm of Telesar II. 1. Introduction. D21-Page 1
Development of Multi-D.O.F. Master-Slave Arm with Bilateral Impedance Control for Telexistence Riichiro Tadakuma, Kiyohiro Sogen, Hiroyuki Kajimoto, Naoki Kawakami, and Susumu Tachi 7-3-1 Hongo, Bunkyo-ku,
More informationApplying Model Mediation Method to a Mobile Robot Bilateral Teleoperation System Experiencing Time Delays in Communication
Applying Model Mediation Method to a Mobile Robot Bilateral Teleoperation System Experiencing Time Delays in Communication B. Taner * M. İ. C. Dede E. Uzunoğlu İzmir Institute of Technology İzmir Institute
More informationJane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute Use an example to explain what is admittance control? You may refer to exoskeleton
More informationControl design issues for a microinvasive neurosurgery teleoperator system
Control design issues for a microinvasive neurosurgery teleoperator system Jacopo Semmoloni, Rudy Manganelli, Alessandro Formaglio and Domenico Prattichizzo Abstract This paper deals with controller design
More informationUsing Hybrid Reality to Explore Scientific Exploration Scenarios
Using Hybrid Reality to Explore Scientific Exploration Scenarios EVA Technology Workshop 2017 Kelsey Young Exploration Scientist NASA Hybrid Reality Lab - Background Combines real-time photo-realistic
More informationNonlinear Adaptive Bilateral Control of Teleoperation Systems with Uncertain Dynamics and Kinematics
Nonlinear Adaptive Bilateral Control of Teleoperation Systems with Uncertain Dynamics and Kinematics X. Liu, M. Tavakoli, and Q. Huang Abstract Research so far on adaptive bilateral control of master-slave
More informationII. TELEOPERATION FRAMEWORK. A. Forward mapping
tracked using a Leap Motion IR camera (Leap Motion, Inc, San Francisco, CA, USA) and the forces are displayed on the fingertips using wearable thimbles. Cutaneous feedback provides the user with a reliable
More informationAdvanced Robotics and Intelligent Control Avancerad robotik och intelligenta styrsystem
Advanced Robotics and Intelligent Control Avancerad robotik och intelligenta styrsystem ELAD16 Associate Professor (Docent) KARLSTAD UNIVERSITY Faculty of Technology and Science Department of Physics and
More informationPerformance Issues in Collaborative Haptic Training
27 IEEE International Conference on Robotics and Automation Roma, Italy, 1-14 April 27 FrA4.4 Performance Issues in Collaborative Haptic Training Behzad Khademian and Keyvan Hashtrudi-Zaad Abstract This
More informationEvaluation of Five-finger Haptic Communication with Network Delay
Tactile Communication Haptic Communication Network Delay Evaluation of Five-finger Haptic Communication with Network Delay To realize tactile communication, we clarify some issues regarding how delay affects
More informationTelemanipulation and Telestration for Microsurgery Summary
Telemanipulation and Telestration for Microsurgery Summary Microsurgery presents an array of problems. For instance, current methodologies of Eye Surgery requires freehand manipulation of delicate structures
More informationSmall Occupancy Robotic Mechanisms for Endoscopic Surgery
Small Occupancy Robotic Mechanisms for Endoscopic Surgery Yuki Kobayashi, Shingo Chiyoda, Kouichi Watabe, Masafumi Okada, and Yoshihiko Nakamura Department of Mechano-Informatics, The University of Tokyo,
More informationChapter 2 Introduction to Haptics 2.1 Definition of Haptics
Chapter 2 Introduction to Haptics 2.1 Definition of Haptics The word haptic originates from the Greek verb hapto to touch and therefore refers to the ability to touch and manipulate objects. The haptic
More informationReal-Time Bilateral Control for an Internet-Based Telerobotic System
708 Real-Time Bilateral Control for an Internet-Based Telerobotic System Jahng-Hyon PARK, Joonyoung PARK and Seungjae MOON There is a growing tendency to use the Internet as the transmission medium of
More informationDETC AN ADMITTANCE GLOVE MECHANISM FOR CONTROLLING A MOBILE ROBOT
Proceedings of the ASME 212 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 212 August 12-15, 212, Chicago, IL, USA DETC212-71284
More informationthese systems has increased, regardless of the environmental conditions of the systems.
Some Student November 30, 2010 CS 5317 USING A TACTILE GLOVE FOR MAINTENANCE TASKS IN HAZARDOUS OR REMOTE SITUATIONS 1. INTRODUCTION As our dependence on automated systems has increased, demand for maintenance
More informationMulti-Agent Planning
25 PRICAI 2000 Workshop on Teams with Adjustable Autonomy PRICAI 2000 Workshop on Teams with Adjustable Autonomy Position Paper Designing an architecture for adjustably autonomous robot teams David Kortenkamp
More informationNetworked haptic cooperation using remote dynamic proxies
29 Second International Conferences on Advances in Computer-Human Interactions Networked haptic cooperation using remote dynamic proxies Zhi Li Department of Mechanical Engineering University of Victoria
More informationInformation and Program
Robotics 1 Information and Program Prof. Alessandro De Luca Robotics 1 1 Robotics 1 2017/18! First semester (12 weeks)! Monday, October 2, 2017 Monday, December 18, 2017! Courses of study (with this course
More informationTele-operation of a Robot Arm with Electro Tactile Feedback
F Tele-operation of a Robot Arm with Electro Tactile Feedback Daniel S. Pamungkas and Koren Ward * Abstract Tactile feedback from a remotely controlled robotic arm can facilitate certain tasks by enabling
More informationFORCE FEEDBACK. Roope Raisamo
FORCE FEEDBACK Roope Raisamo Multimodal Interaction Research Group Tampere Unit for Computer Human Interaction Department of Computer Sciences University of Tampere, Finland Outline Force feedback interfaces
More informationComputer Assisted Medical Interventions
Outline Computer Assisted Medical Interventions Force control, collaborative manipulation and telemanipulation Bernard BAYLE Joint course University of Strasbourg, University of Houston, Telecom Paris
More informationTele-operated robotic arm and hand with intuitive control and haptic feedback
American Journal of Aerospace Engineering 2014; 1(4): 21-27 Published online December 18, 2014 (http://www.sciencepublishinggroup.com/j/ajae) doi: 10.11648/j.ajae.20140104.11 Tele-operated robotic arm
More informationWireless Master-Slave Embedded Controller for a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing
Wireless Master-Slave Embedded Controller for a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing Presented by: Benjamin B. Rhoades ECGR 6185 Adv. Embedded Systems January 16 th 2013
More informationCheekTouch: An Affective Interaction Technique while Speaking on the Mobile Phone
CheekTouch: An Affective Interaction Technique while Speaking on the Mobile Phone Young-Woo Park Department of Industrial Design, KAIST, Daejeon, Korea pyw@kaist.ac.kr Chang-Young Lim Graduate School of
More informationMECHANICAL DESIGN LEARNING ENVIRONMENTS BASED ON VIRTUAL REALITY TECHNOLOGIES
INTERNATIONAL CONFERENCE ON ENGINEERING AND PRODUCT DESIGN EDUCATION 4 & 5 SEPTEMBER 2008, UNIVERSITAT POLITECNICA DE CATALUNYA, BARCELONA, SPAIN MECHANICAL DESIGN LEARNING ENVIRONMENTS BASED ON VIRTUAL
More informationCSCI 599 Physically Based Modeling for Interactive Simulation and Games Topic: Haptics
CSCI 599 Physically Based Modeling for Interactive Simulation and Games Topic: Haptics Mathematica It is a powerful tool. It can be used to check if the code works correct. Simple usage by example: 1.
More informationTactile sensing system using electro-tactile feedback
University of Wollongong Research Online Faculty of Engineering and Information Sciences - Papers: Part A Faculty of Engineering and Information Sciences 2015 Tactile sensing system using electro-tactile
More informationHaptic Tele-Assembly over the Internet
Haptic Tele-Assembly over the Internet Sandra Hirche, Bartlomiej Stanczyk, and Martin Buss Institute of Automatic Control Engineering, Technische Universität München D-829 München, Germany, http : //www.lsr.ei.tum.de
More informationDevelopment of a Master Slave Combined Manipulator for Laparoscopic Surgery
Development of a Master Slave Combined Manipulator for Laparoscopic Surgery Functional Model and Its Evaluation Makoto Jinno 1, Nobuto Matsuhira 1, Takamitsu Sunaoshi 1 Takehiro Hato 1, Toyomi Miyagawa
More informationEvaluation of Visuo-haptic Feedback in a 3D Touch Panel Interface
Evaluation of Visuo-haptic Feedback in a 3D Touch Panel Interface Xu Zhao Saitama University 255 Shimo-Okubo, Sakura-ku, Saitama City, Japan sheldonzhaox@is.ics.saitamau.ac.jp Takehiro Niikura The University
More informationForce Feedback Mechatronics in Medecine, Healthcare and Rehabilitation
Force Feedback Mechatronics in Medecine, Healthcare and Rehabilitation J.P. Friconneau 1, P. Garrec 1, F. Gosselin 1, A. Riwan 1, 1 CEA-LIST DTSI/SRSI, CEN/FAR BP6, 92265 Fontenay-aux-Roses, France jean-pierre.friconneau@cea.fr
More informationPHYSICAL ROBOTS PROGRAMMING BY IMITATION USING VIRTUAL ROBOT PROTOTYPES
Bulletin of the Transilvania University of Braşov Series I: Engineering Sciences Vol. 6 (55) No. 2-2013 PHYSICAL ROBOTS PROGRAMMING BY IMITATION USING VIRTUAL ROBOT PROTOTYPES A. FRATU 1 M. FRATU 2 Abstract:
More informationHAPTIC DEVICES FOR DESKTOP VIRTUAL PROTOTYPING APPLICATIONS
The 3rd International Conference on Computational Mechanics and Virtual Engineering COMEC 2009 29 30 OCTOBER 2009, Brasov, Romania HAPTIC DEVICES FOR DESKTOP VIRTUAL PROTOTYPING APPLICATIONS A. Fratu 1,
More informationDisturbance Observer and Kalman Filter Based Motion Control Realization
IEEJ Journal of Industry Applications Vol.7 No.1 pp.1 14 DOI: 1.1541/ieejjia.7.1 Disturbance Observer and Kalman Filter Based Motion Control Realization Thao Tran Phuong a) Member, Kiyoshi Ohishi Fellow
More informationDesign and Controll of Haptic Glove with McKibben Pneumatic Muscle
XXVIII. ASR '2003 Seminar, Instruments and Control, Ostrava, May 6, 2003 173 Design and Controll of Haptic Glove with McKibben Pneumatic Muscle KOPEČNÝ, Lukáš Ing., Department of Control and Instrumentation,
More informationFALL 2014, Issue No. 32 ROBOTICS AT OUR FINGERTIPS
FALL 2014, Issue No. 32 ROBOTICS AT OUR FINGERTIPS FALL 2014 Issue No. 32 12 CYBERSECURITY SOLUTION NSF taps UCLA Engineering to take lead in encryption research. Cover Photo: Joanne Leung 6MAN AND MACHINE
More informationAir-filled type Immersive Projection Display
Air-filled type Immersive Projection Display Wataru HASHIMOTO Faculty of Information Science and Technology, Osaka Institute of Technology, 1-79-1, Kitayama, Hirakata, Osaka 573-0196, Japan whashimo@is.oit.ac.jp
More informationThe Haptic Impendance Control through Virtual Environment Force Compensation
The Haptic Impendance Control through Virtual Environment Force Compensation OCTAVIAN MELINTE Robotics and Mechatronics Department Institute of Solid Mechanicsof the Romanian Academy ROMANIA octavian.melinte@yahoo.com
More informationWednesday, October 29, :00-04:00pm EB: 3546D. TELEOPERATION OF MOBILE MANIPULATORS By Yunyi Jia Advisor: Prof.
Wednesday, October 29, 2014 02:00-04:00pm EB: 3546D TELEOPERATION OF MOBILE MANIPULATORS By Yunyi Jia Advisor: Prof. Ning Xi ABSTRACT Mobile manipulators provide larger working spaces and more flexibility
More informationDesign of an Intermediate Layer to Enhance Operator Awareness and Safety in Telesurgical Systems
212 IEEE/RSJ International Conference on Intelligent Robots and Systems October 7-12, 212. Vilamoura, Algarve, Portugal Design of an Intermediate Layer to Enhance Operator Awareness and Safety in Telesurgical
More information2B34 DEVELOPMENT OF A HYDRAULIC PARALLEL LINK TYPE OF FORCE DISPLAY
2B34 DEVELOPMENT OF A HYDRAULIC PARALLEL LINK TYPE OF FORCE DISPLAY -Improvement of Manipulability Using Disturbance Observer and its Application to a Master-slave System- Shigeki KUDOMI*, Hironao YAMADA**
More informationBilateral Control of Two Finger Joints Using Functional Electrical Stimulation
Bilateral Control of Two Finger Joints Using Functional Electrical Stimulation arxiv:1811.03749v1 [physics.bio-ph] 9 Nov 2018 Yuu Hasegawa Graduate School of Science and Engineering, Saitama University,
More informationDesigning Toys That Come Alive: Curious Robots for Creative Play
Designing Toys That Come Alive: Curious Robots for Creative Play Kathryn Merrick School of Information Technologies and Electrical Engineering University of New South Wales, Australian Defence Force Academy
More informationTexture recognition using force sensitive resistors
Texture recognition using force sensitive resistors SAYED, Muhammad, DIAZ GARCIA,, Jose Carlos and ALBOUL, Lyuba Available from Sheffield Hallam University Research
More informationFUNDAMENTALS ROBOT TECHNOLOGY. An Introduction to Industrial Robots, T eleoperators and Robot Vehicles. D J Todd. Kogan Page
FUNDAMENTALS of ROBOT TECHNOLOGY An Introduction to Industrial Robots, T eleoperators and Robot Vehicles D J Todd &\ Kogan Page First published in 1986 by Kogan Page Ltd 120 Pentonville Road, London Nl
More informationPush Path Improvement with Policy based Reinforcement Learning
1 Push Path Improvement with Policy based Reinforcement Learning Junhu He TAMS Department of Informatics University of Hamburg Cross-modal Interaction In Natural and Artificial Cognitive Systems (CINACS)
More information* Intelli Robotic Wheel Chair for Specialty Operations & Physically Challenged
ADVANCED ROBOTICS SOLUTIONS * Intelli Mobile Robot for Multi Specialty Operations * Advanced Robotic Pick and Place Arm and Hand System * Automatic Color Sensing Robot using PC * AI Based Image Capturing
More informationThe Design of Internet-Based RobotPHONE
The Design of Internet-Based RobotPHONE Dairoku Sekiguchi 1, Masahiko Inami 2, Naoki Kawakami 1 and Susumu Tachi 1 1 Graduate School of Information Science and Technology, The University of Tokyo 7-3-1
More informationAcquisition of Multi-Modal Expression of Slip through Pick-Up Experiences
Acquisition of Multi-Modal Expression of Slip through Pick-Up Experiences Yasunori Tada* and Koh Hosoda** * Dept. of Adaptive Machine Systems, Osaka University ** Dept. of Adaptive Machine Systems, HANDAI
More informationPhysical Human Robot Interaction
MIN Faculty Department of Informatics Physical Human Robot Interaction Intelligent Robotics Seminar Ilay Köksal University of Hamburg Faculty of Mathematics, Informatics and Natural Sciences Department
More informationShape Memory Alloy Actuator Controller Design for Tactile Displays
34th IEEE Conference on Decision and Control New Orleans, Dec. 3-5, 995 Shape Memory Alloy Actuator Controller Design for Tactile Displays Robert D. Howe, Dimitrios A. Kontarinis, and William J. Peine
More informationWearable Haptic Feedback Actuators for Training in Robotic Surgery
Wearable Haptic Feedback Actuators for Training in Robotic Surgery NSF Summer Undergraduate Fellowship in Sensor Technologies Joshua Fernandez (Mechanical Eng.) University of Maryland Baltimore County
More informationFuzzy Logic Based Force-Feedback for Obstacle Collision Avoidance of Robot Manipulators
Fuzzy Logic Based Force-Feedback for Obstacle Collision Avoidance of Robot Manipulators D. Wijayasekara, M. Manic Department of Computer Science University of Idaho Idaho Falls, USA wija2589@vandals.uidaho.edu,
More informationPeter Berkelman. ACHI/DigitalWorld
Magnetic Levitation Haptic Peter Berkelman ACHI/DigitalWorld February 25, 2013 Outline: Haptics - Force Feedback Sample devices: Phantoms, Novint Falcon, Force Dimension Inertia, friction, hysteresis/backlash
More informationNCCT IEEE PROJECTS ADVANCED ROBOTICS SOLUTIONS. Latest Projects, in various Domains. Promise for the Best Projects
NCCT Promise for the Best Projects IEEE PROJECTS in various Domains Latest Projects, 2009-2010 ADVANCED ROBOTICS SOLUTIONS EMBEDDED SYSTEM PROJECTS Microcontrollers VLSI DSP Matlab Robotics ADVANCED ROBOTICS
More informationOn Observer-based Passive Robust Impedance Control of a Robot Manipulator
Journal of Mechanics Engineering and Automation 7 (2017) 71-78 doi: 10.17265/2159-5275/2017.02.003 D DAVID PUBLISHING On Observer-based Passive Robust Impedance Control of a Robot Manipulator CAO Sheng,
More informationAUTONOMOUS MOTION CONTROLLED HAND-ARM ROBOTIC SYSTEM
Autonomous Motion Controlled Hand-Arm Robotic System AUTONOMOUS MOTION CONTROLLED HAND-ARM ROBOTIC SYSTEM NIJI JOHNSON AND P.SIVASANKAR RAJAMANI KSR College of Engineering,Thiruchengode-637215 Abstract:
More informationBilateral Delayed Teleoperation: The Effects of a Passivated Channel Model and Force Sensing A. Aziminejad, M. Tavakoli, R.V. Patel, M.
2007 IEEE International Conference on Robotics and Automation Roma, Italy, 10-14 April 2007 FrA12.1 Bilateral Delayed Teleoperation: The Effects of a Passivated Channel Model and Force Sensing A. Aziminejad,
More informationEmergence of lateral softness sensations in surface tactile tele-presentation systems with force feedback
Bulletin of the JSME Journal of Advanced Mechanical Design, Systems, and Manufacturing Vol.8, No.3, 214 Emergence of lateral softness sensations in surface tactile tele-presentation systems with force
More informationPerceptual Overlays for Teaching Advanced Driving Skills
Perceptual Overlays for Teaching Advanced Driving Skills Brent Gillespie Micah Steele ARC Conference May 24, 2000 5/21/00 1 Outline 1. Haptics in the Driver-Vehicle Interface 2. Perceptual Overlays for
More informationHaptic Control of the Master Hand Controller for a Microsurgical Telerobot System
Proceedings of the 1999 IEEE International Conference on Robotics & Automation Detroit, Michigan May 1999 Haptic Control of the Master Hand Controller for a Microsurgical Telerobot System Dong-Soo Kwonl,
More informationCS277 - Experimental Haptics Lecture 1. Introduction to Haptics
CS277 - Experimental Haptics Lecture 1 Introduction to Haptics Haptic Interfaces Enables physical interaction with virtual objects Haptic Rendering Potential Fields Polygonal Meshes Implicit Surfaces Volumetric
More informationHaptic Media for Innovative Real World Services
Haptic Communication Bilateral Control Teleoperation Special Articles on User Interface Research New Interface Design of Mobile Phones Haptic Media for Innovative Real World Services NTT DOCOMO is researching
More informationComputer Haptics and Applications
Computer Haptics and Applications EURON Summer School 2003 Cagatay Basdogan, Ph.D. College of Engineering Koc University, Istanbul, 80910 (http://network.ku.edu.tr/~cbasdogan) Resources: EURON Summer School
More informationMethods for Haptic Feedback in Teleoperated Robotic Surgery
Young Group 5 1 Methods for Haptic Feedback in Teleoperated Robotic Surgery Paper Review Jessie Young Group 5: Haptic Interface for Surgical Manipulator System March 12, 2012 Paper Selection: A. M. Okamura.
More informationMultisensory Based Manipulation Architecture
Marine Robot and Dexterous Manipulatin for Enabling Multipurpose Intevention Missions WP7 Multisensory Based Manipulation Architecture GIRONA 2012 Y2 Review Meeting Pedro J Sanz IRS Lab http://www.irs.uji.es/
More informationLos Alamos. DOE Office of Scientific and Technical Information LA-U R-9&%
LA-U R-9&% Title: Author(s): Submitted M: Virtual Reality and Telepresence Control of Robots Used in Hazardous Environments Lawrence E. Bronisz, ESA-MT Pete C. Pittman, ESA-MT DOE Office of Scientific
More informationChapter 1 Introduction to Robotics
Chapter 1 Introduction to Robotics PS: Most of the pages of this presentation were obtained and adapted from various sources in the internet. 1 I. Definition of Robotics Definition (Robot Institute of
More informationExpression of 2DOF Fingertip Traction with 1DOF Lateral Skin Stretch
Expression of 2DOF Fingertip Traction with 1DOF Lateral Skin Stretch Vibol Yem 1, Mai Shibahara 2, Katsunari Sato 2, Hiroyuki Kajimoto 1 1 The University of Electro-Communications, Tokyo, Japan 2 Nara
More informationHaptic and Locomotion Interfaces
Elective in Robotics Haptic and Locomotion Interfaces Prof. Alessandro De Luca Elective in Robotics Haptic and Locomotion Interfaces 1 Haptic and Locomotion interfaces Haptic interfaces refers to interfaces
More informationAUOTOMATIC PICK AND PLACE ROBOT
AUOTOMATIC PICK AND PLACE ROBOT Mr.Kunal Sali 1, Mr. Saiprasad Kolhe 2, Mr.Mayank Paliwal 3 1,2,3 Department of E&TC. Engg, Sandip Foundation, SITRC College, Nashik,(India) ABSTRACT In this paper we deal
More informationModel-Mediated Teleoperation for Multi-Operator Multi-Robot Systems
The 00 IEEE/RSJ International Conference on Intelligent Robots and Systems October 8-, 00, Taipei, Taiwan Model-Mediated Teleoperation for Multi-Operator Multi-Robot Systems Carolina Passenberg*, Angelika
More informationGrasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand
Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand Francisco Suárez-Ruiz 1, Ignacio Galiana 1, Yaroslav Tenzer 2,3, Leif P. Jentoft 2,3, Robert D. Howe 2, and Manuel Ferre 1 1 Centre for
More informationDevelopment a File Transfer Application by Handover for 3D Video Communication System in Synchronized AR Space
Development a File Transfer Application by Handover for 3D Video Communication System in Synchronized AR Space Yuki Fujibayashi and Hiroki Imamura Department of Information Systems Science, Graduate School
More informationIOSR Journal of Engineering (IOSRJEN) e-issn: , p-issn: , Volume 2, Issue 11 (November 2012), PP 37-43
IOSR Journal of Engineering (IOSRJEN) e-issn: 2250-3021, p-issn: 2278-8719, Volume 2, Issue 11 (November 2012), PP 37-43 Operative Precept of robotic arm expending Haptic Virtual System Arnab Das 1, Swagat
More informationMay Edited by: Roemi E. Fernández Héctor Montes
May 2016 Edited by: Roemi E. Fernández Héctor Montes RoboCity16 Open Conference on Future Trends in Robotics Editors Roemi E. Fernández Saavedra Héctor Montes Franceschi Madrid, 26 May 2016 Edited by:
More informationBaset Adult-Size 2016 Team Description Paper
Baset Adult-Size 2016 Team Description Paper Mojtaba Hosseini, Vahid Mohammadi, Farhad Jafari 2, Dr. Esfandiar Bamdad 1 1 Humanoid Robotic Laboratory, Robotic Center, Baset Pazhuh Tehran company. No383,
More informationElements of Haptic Interfaces
Elements of Haptic Interfaces Katherine J. Kuchenbecker Department of Mechanical Engineering and Applied Mechanics University of Pennsylvania kuchenbe@seas.upenn.edu Course Notes for MEAM 625, University
More informationHAPTIC BASED ROBOTIC CONTROL SYSTEM ENHANCED WITH EMBEDDED IMAGE PROCESSING
HAPTIC BASED ROBOTIC CONTROL SYSTEM ENHANCED WITH EMBEDDED IMAGE PROCESSING K.Gopal, Dr.N.Suthanthira Vanitha, M.Jagadeeshraja, and L.Manivannan, Knowledge Institute of Technology Abstract: - The advancement
More informationAn experimental study about the effect of interactions among functional factors in performance of telemanipulation systems
Control Engineering Practice 15 (2007) 29 41 www.elsevier.com/locate/conengprac An experimental study about the effect of interactions among functional factors in performance of telemanipulation systems
More informationCISC 1600 Lecture 3.4 Agent-based programming
CISC 1600 Lecture 3.4 Agent-based programming Topics: Agents and environments Rationality Performance, Environment, Actuators, Sensors Four basic types of agents Multi-agent systems NetLogo Agents interact
More informationTRENDS IN SURGICAL ROBOTICS
TRENDS IN SURGICAL ROBOTICS HANNES BLEULER, MOHAMED BOURI, LAURA SANTOS-CARRERAS, SIMON GALLO, ALI SENGÜL, GIULIO ROGNINI, REYMOND CLAVEL * Abstract. Surgical Robotics today is essentially about two families
More informationAn Introduction To Modular Robots
An Introduction To Modular Robots Introduction Morphology and Classification Locomotion Applications Challenges 11/24/09 Sebastian Rockel Introduction Definition (Robot) A robot is an artificial, intelligent,
More informationToward Principles for Visual Interaction Design for Communicating Weight by using Pseudo-Haptic Feedback
Toward Principles for Visual Interaction Design for Communicating Weight by using Pseudo-Haptic Feedback Kumiyo Nakakoji Key Technology Laboratory SRA Inc. 2-32-8 Minami-Ikebukuro, Toshima, Tokyo, 171-8513,
More information