Download or read book Design of a 6 DOF Haptic Interface for Robotic Teleoperation written by Saleh Ahmad and published by . This book was released on 2008 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Teleoperation has become increasingly important in medical applications, handling hazardous materials, as well as in other robotics applications. Force feedback in such systems is essential; therefore a haptic device is needed in order to allow the user to feel the reactive forces between the slave manipulator and the environment. Our main research focus is the design of a six degrees of freedom parallel robot to be used as a master haptic interface in internet-based teleoperation. This parallel robot is based on two five-bar linkage mechanisms leading to a low weight, compact, and efficient haptic device with a promising successful implementation for telerobotic applications such as endoscopic surgery.
Download or read book Haptics for Virtual Reality and Teleoperation written by Matjaž Mihelj and published by Springer Science & Business Media. This book was released on 2012-12-14 with total page 217 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation. The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic interfaces that will comply with human capabilities at least basic understanding of human sensors-motor system is required. An overview of this topic is provided in the chapter related to human haptics. The book does not try to introduce the state-of-the-art haptic interface solutions because these tend to change quickly. Only a careful selection of different kinematic configurations is shown to introduce the reader into this field. Mathematical models of virtual environment, collision detection and force rendering topics are strongly interrelated and are described in the next two chapters. The interaction with the virtual environment is simulated with a haptic interface. Impedance and admittance based approaches to haptic robot control are presented. Stability issues of haptic interaction are analyzed in details and solutions are proposed for guaranteeing stable and safe operation. Finally, haptic interaction is extended to teleoperation systems. Virtual fixtures which improve the teleoperation and human-robot cooperation in complex environments are covered next and the last chapter presents nanomanipulation as one specific example of teleoperation.
Download or read book Cutaneous Haptic Feedback in Robotic Teleoperation written by Claudio Pacchierotti and published by Springer. This book was released on 2015-11-06 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work addresses the challenge of providing effective cutaneous haptic feedback in robotic teleoperation, with the objective of achieving the highest degree of transparency whilst guaranteeing the stability of the considered systems. On the one hand, it evaluates teleoperation systems that provide only cutaneous cues to the operator, thus guaranteeing the highest degree of safety. This cutaneous-only approach shows intermediate performance between no force feedback and full haptic feedback provided by a grounded haptic interface, and it is best suitable for those scenarios where the safety of the system is paramount, e.g., robotic surgery. On the other hand, in order to achieve a higher level of performance, this work also investigates novel robotic teleoperation systems with force reflection able to provide mixed cutaneous and kinesthetic cues to the operator. Cutaneous cues can compensate for the temporary reduction of kinesthetic feedback necessary to satisfy certain stability conditions. This state-of-the-art volume is oriented toward researchers, educators, and students who are interested in force feedback techniques for robotic teleoperation, cutaneous device design, cutaneous rendering methods and perception studies, as well as readers from different disciplines who are interested in applying cutaneous haptic technologies and methods to their field of interest.
Download or read book Toward Design and Integration of a Novel 6 DOF Haptic Device written by Zhouming Tang and published by . This book was released on 2010 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptic user interface is an electro-mechanical device that interfaces the user via the sense of touch to the virtual or remote tele-operation environment. This thesis is aimed to develop a haptic user interface device that is able to provide assistance in medical surgery. A novel design hybrid 6-DOF manipulator arm has been utilized for such application. We proposed mathematical models of the manipulator arm. We designed and developed electronic interface and application software for the device. We conducted experimental studies to evaluate the performance of the proposed haptic user interface. Results demonstrated the performance of the kinematic mapping of the device and compared the computed haptic force feedback with the measured force/moment data located at the stylus of the device. In addition, we implemented gravity compensation and passivity controller methods to enhance the stability of the haptic rendering. Results indicated significant improvement in stability and also suggested future development.
Download or read book Robot Hands And Multi fingered Haptic Interfaces Fundamentals And Applications written by Haruhisa Kawasaki and published by World Scientific. This book was released on 2015-03-04 with total page 352 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Hands and Multi-Fingered Haptic Interfaces is a monograph focusing on the comparison of human hands with robot hands, the fundamentals behind designing and creating the latter, and robotics' latest advancements in haptic technology.This work discusses the design of robot hands; contact models at grasping; kinematic models of constraint; dynamic models of the multi-fingered hand; the stability theorem of non-linear control systems; robot hand control; design and control of multi-fingered haptic interfaces; application systems using multi-fingered haptic interfaces; and telecontrol of robot hands using a multi-fingered haptic interface.Robot Hands and Multi-Fingered Haptic Interfaces is intended mainly for readers who have a foundation in basic robot arm engineering. To understand robot hand manipulation, readers must study kinematic constraint models of fingers, hand dynamics with constraints, stability theorems of non-linear control, and multi-fingered hand control — this book will benefit readers' understanding of this full range of issues regarding robot hand manipulation.
Download or read book Connecting Haptic Interface with Time Delayed Teleoperated Robots written by Kamel Abdelmeguid Kamel and published by . This book was released on 2004 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt: The accuracy and performance of robotic manipulators are crucial to their commercial viability and widespread use in industry. Nowadays, robotic manipulators are required to achieve tasks more than what they were made for. In the past, speed and accuracy of a manipulator were the main focus of researchers. The new robotic evolution is teleoperated haptic devices. This thesis explores the different aspects of internet time delay simulations and their effects on remotely operated manipulators. The thesis also studies the dynamic modeling of the PUMA 560 and SideWinder 2 Joystick with force feedback, and their control interfaces for the purpose of designing and implementing a teleoperated haptic device interface. It is shown that the modeling should not stop at simulating a model, but rather the model should be validated.
Download or read book Model based Design and Control of Deformable Robots and Haptic Devices written by Margaret Irene Schatz Koehler and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptic interfaces are used in training, guidance, and teleoperation to provide force and tactile feedback to a user from a virtual or remote environment. In contrast to the rigid components typically comprising haptic devices, compliant materials could enable new haptic devices that move via deformation rather than via joints. However, the design and control of devices consisting of soft or deformable components is challenging, due to the complex coupling between actuation and end-effector motion and due to a lack of sensing. This thesis considers the potential for computational model-based methods to address challenges in the design and control of deformable haptic devices. In the first half of this thesis, we introduce a new haptic shape display made of soft materials for organ simulation for medical training. The device is a continuous, fully 3D shape-changing surface that a user can touch and hold. We develop a mass-spring model of the device that allows us to understand how different pneumatic actuators affect the shape. Further, we develop an automated design algorithm based on a heuristic controller and a simulation of the device to determine how to arrange a limited number of actuators to reproduce target shapes. This device and its associated algorithms show how a model can be used to understand complex deformations due to pneumatic actuation of a compliant system. The second half of this thesis focuses on the precise control of deformable haptic devices. Two deformable kinesthetic haptic devices are introduced: a 2-DOF planar device and a 5-DOF device. In these devices, forces are transmitted from the actuators to the user via deformable transmissions which allow for easy fabrication and reduced mass and friction in the device. Using these devices, we demonstrate methods for design, sensing, and control. We derive a general formula for the mapping of actuator stiffness to end-effector stiffness and verify it using the planar device. For sensing, we present results in model-based sensing using only actuator information or using model-calibrated embedded sensors. With these techniques, we can use the deformation of the device to measure the force applied to the device without an external force sensor. We extend techniques from rigid robot workspace analysis to deformable robots. Finally, we develop control techniques for haptic rendering which compensate for device mechanics and characterize the resulting forces. Together, these results in design and control show that model-based methods can overcome some of the challenges of deformable devices to enable new haptic interfaces.
Download or read book Performance Metrics for Haptic Interfaces written by Evren Samur and published by Springer Science & Business Media. This book was released on 2012-07-13 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptics technology is being used more and more in different applications, such as in computer games for increased immersion, in surgical simulators to create a realistic environment for training of surgeons, in surgical robotics due to safety issues and in mobile phones to provide feedback from user action. The existence of these applications highlights a clear need to understand performance metrics for haptic interfaces and their implications on device design, use and application. Performance Metrics for Haptic Interfaces aims at meeting this need by establishing standard practices for the evaluation of haptic interfaces and by identifying significant performance metrics. Towards this end, a combined physical and psychophysical experimental methodology is presented. Firstly, existing physical performance measures and device characterization techniques are investigated and described in an illustrative way. Secondly, a wide range of human psychophysical experiments are reviewed and the appropriate ones are applied to haptic interactions. The psychophysical experiments are unified as a systematic and complete evaluation method for haptic interfaces. Finally, synthesis of both evaluation methods is discussed. The metrics provided in this state-of-the-art volume will guide readers in evaluating the performance of any haptic interface. The generic methodology will enable researchers to experimentally assess the suitability of a haptic interface for a specific purpose, to characterize and compare devices quantitatively and to identify possible improvement strategies in the design of a system.
Download or read book Design of a High Performance Robot for Use in Haptic Interface and Force Feedback Research written by Carl M. Perry and published by . This book was released on 1997 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Virtual Reality written by National Research Council and published by National Academies Press. This book was released on 1995-01-13 with total page 557 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.
Download or read book A 3D Haptic Trackball For Teleoperating Tendon Driven Continuum Robots written by Mufeng Xie and published by . This book was released on 2021 with total page 72 pages. Available in PDF, EPUB and Kindle. Book excerpt: Continuum robots are commonly used as surgical robots, due to their flexibility in confined workspaces. Since continuum robots have a very large number of degrees of freedom, it is a challenging task for humans to control them, and a proper user interface is required to serve as a input device. Haptic interfaces offer significant potential to be used as input devices for teleoperation, due to their force feedback that can help users better control the robots. However, few haptic interface systems have been developed for the control of continuum robots. We proposed a novel 3D haptic trackball as an input device to control tendon-driven continuum robots. The system will let the user control the tip position of a tendon-driven robot with high accuracy, as well as provide haptic force feedback when necessary, so as to assist the user with controlling the robot in different tasks. We design a user study to evaluate the performance of our proposed system and compare it with an off-the-shelf interface, a joystick on a gamepad, which has been previously used as an experimental interface for continuum robots. We asked the users to perform a path following task and a obstacle avoiding task in a 600mm×300mm×300mm workspace. Results show that our proposed haptic trackball interface enables higher accuracy in path following and lower chances of hitting obstacles in obstacle avoiding, compared to using the joystick interface. Although the runtime of our system in each task is longer than that of the joystick, considering the scenario of surgical processes, where accuracy and safety are often much more important than speed, the sacrifice in speed has a reduced influence on system performance. Overall, our proposed interface performs better than conventional interfaces in terms of positional precision and obstacles avoidance, thus having great potentials to be used in robotic assisted surgery.
Download or read book Haptics Generating and Perceiving Tangible Sensations Part II written by Astrid M. L. Kappers and published by Springer. This book was released on 2010-07-04 with total page 476 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the conference on Haptics: Generating and Perceiving Tangible Sensations, held in Amsterdam, Netherlands in July 2010.
Download or read book Robot Design Optimization with Haptic Interface Applications written by and published by . This book was released on 2000 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Advances in Haptics written by Mehrdad Hosseini Zadeh and published by IntechOpen. This book was released on 2010-04-01 with total page 732 pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptic interfaces are divided into two main categories: force feedback and tactile. Force feedback interfaces are used to explore and modify remote/virtual objects in three physical dimensions in applications including computer-aided design, computer-assisted surgery, and computer-aided assembly. Tactile interfaces deal with surface properties such as roughness, smoothness, and temperature. Haptic research is intrinsically multi-disciplinary, incorporating computer science/engineering, control, robotics, psychophysics, and human motor control. By extending the scope of research in haptics, advances can be achieved in existing applications such as computer-aided design (CAD), tele-surgery, rehabilitation, scientific visualization, robot-assisted surgery, authentication, and graphical user interfaces (GUI), to name a few. Advances in Haptics presents a number of recent contributions to the field of haptics. Authors from around the world present the results of their research on various issues in the field of haptics.
Download or read book Advances in Haptics written by Mehrdad Hosseini Zadeh and published by IntechOpen. This book was released on 2010-04-01 with total page 732 pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptic interfaces are divided into two main categories: force feedback and tactile. Force feedback interfaces are used to explore and modify remote/virtual objects in three physical dimensions in applications including computer-aided design, computer-assisted surgery, and computer-aided assembly. Tactile interfaces deal with surface properties such as roughness, smoothness, and temperature. Haptic research is intrinsically multi-disciplinary, incorporating computer science/engineering, control, robotics, psychophysics, and human motor control. By extending the scope of research in haptics, advances can be achieved in existing applications such as computer-aided design (CAD), tele-surgery, rehabilitation, scientific visualization, robot-assisted surgery, authentication, and graphical user interfaces (GUI), to name a few. Advances in Haptics presents a number of recent contributions to the field of haptics. Authors from around the world present the results of their research on various issues in the field of haptics.
Download or read book Design and Implementation of Intuitive Human robot Teleoperation Interfaces written by Lei Wu and published by . This book was released on 2020 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: We have designed and implemented a novel human-robot teleoperation interface based on an intuitive reference frame and hybrid inverse kinematics to perform activities of daily living(ADL) using multiple input devices. Persons with disabilities often rely on caregivers or family members to assist in their daily living activities. Providing robotic assistants with easy and intuitive user interfaces to assist with ADL can improve their quality of life and lift some of the burdens on caregivers and family members. Current human-robot interface solutions, such as joysticks, Kinect based gesture recognition, and touchscreen-based solutions, including smartphones, are still far from being able to operate in an intuitive way when used for complex activities of daily living. In this dissertation, we review the current popular human-robot interfaces and discuss their advantages and disadvantages. When developing our new interface system, we try to maximize as many advantages as possible while minimizing the disadvantages. In this era of smartphones that are packed with sensors, such as accelerometers, gyroscopes, and a precise touch screen, teleoperation control can be interfaced with smartphones to capture the user's intended operation of the robot assistant. We developed three novel human-robot smartphone-based interfaces to operate a robotic arm for assisting persons with disabilities in their ADL tasks. Useful smartphone data, including 3-dimensional orientation and 2-dimensional touchscreen positions, are used as control variables to the robot motion in Cartesian teleoperation. The developed interfaces provide intuitiveness, low cost, and environmental adaptability. Not only the interface devices affect the intuitiveness of the robotic arm teleoperation, but also the inverse kinematics algorithm of the robotic arm is crucial to the whole system intuitiveness as well. The two commonly used reference frames are the Ground and the End-effector reference frames, which do not always provide intuitive control from the perspective of human operators. We conducted preliminary testing in Ground and End-effector reference frames separately to maneuver objects in 3D space. Based on their feedback, we found how users wanted the robot to move and developed a new Intuitive Reference Frame with a novel hybrid inverse kinematics solution(the Hybrid system). This system provides a more natural and easier to use human-robot interface. Two conventional control reference frames(the Ground and the End-effector) are compared with our novel Intuitive control reference frame. An activity of daily living(ADL) task was used to test the performances of the three control reference frames. A 6-D spacemouse, Xbox controller, Omni and a smartphone were used as input devices for the human-robot interfaces to control a Baxter robotic arm and perform the same ADL task using the three different control reference frames. We tested the three control reference frame systems with human subjects and collected qualitative and quantitative data. The results show that overall our Intuitive robotic arm control reference frame with the hybrid inverse kinematics greatly reduced the time and effort needed to manipulate the robotic arm. The results also show that our Hybrid system improved the performances and intuitiveness for all tested input devices.
Download or read book Multi finger Haptic Interaction written by Ignacio Galiana and published by Springer Science & Business Media. This book was released on 2014-07-08 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-finger Haptic Interaction presents a panorama of technologies and methods for multi-finger haptic interaction, together with an analysis of the benefits and implications of adding multiple-fingers to haptic applications. Research topics covered include: design and control of advanced haptic devices; multi-contact point simulation algorithms; interaction techniques and implications in human perception when interacting with multiple fingers. These multi-disciplinary results are integrated into applications such as medical simulators for training manual skills, simulators for virtual prototyping and precise manipulations in remote environments. Multi-finger Haptic Interaction presents the current and potential applications that can be developed with these systems, and details the systems’ complexity. The research is focused on enhancing haptic interaction by providing multiple contact points to the user. This state-of-the-art volume is oriented towards researchers who are involved in haptic device design, rendering methods and perception studies, as well as readers from different disciplines who are interested in applying multi-finger haptic technologies and methods to their field of interest.
