Download or read book A Haptic Interface for Time delayed Teleoperation written by and published by . This book was released on 1999 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Haptic Teleoperation Systems written by Jae-young Lee and published by Springer. This book was released on 2015-06-30 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book examines the signal processing perspective in haptic teleoperation systems. This text covers the topics of prediction, estimation, architecture, data compression and error correction that can be applied to haptic teleoperation systems. The authors begin with an overview of haptic teleoperation systems, then look at a Bayesian approach to haptic teleoperation systems. They move onto a discussion of haptic data compression, haptic data digitization and forward error correction.
Download or read book Haptics For Teleoperated Surgical Robotic Systems written by Mahdi Tavakoli and published by World Scientific. This book was released on 2008-04-14 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance.
Download or read book Haptic Communication for Time delayed Teleoperation written by Xiao Xu and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Telesurgery written by Sajeesh Kumar and published by Springer Science & Business Media. This book was released on 2008-07-11 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by renowned international experts, this book explains technical issues, digital information processing, and provides collective experiences from practitioners who perform a wide range of telesurgery applications. The book lays the foundation for the globalization of surgical procedures, making possible the ability of a surgeon located in one part of the world to operate on a patient located in another.
Download or read book Haptics Science Technology and Applications written by Domenico Prattichizzo and published by Springer. This book was released on 2018-06-04 with total page 449 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set LNCS 10893 and 10894 constitutes the refereed proceedings of the 11th International Conference EuroHaptics 2018, held in Pisa, Italy, in June 2018. The 95 papers (40 oral presentations and 554 poster presentations) presented were carefully reviewed and selected from 138 submissions. These proceedings reflect the multidisciplinary nature of EuroHaptics and cover all aspects of haptics, including neuroscience, psychophysics, perception, engineering, computing, interaction, virtual reality and arts.
Download or read book Novel Haptic Cues for UAV Tele Operation written by Samantha Alaimo and published by Logos Verlag Berlin GmbH. This book was released on 2014-01-15 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: Outlines three case studies: obstacle avoidance, wind gust rejection, and a combination of the two. In each case, Direct Haptic Aid (DHA) and Indirect Haptic Aid (IHA) systems are designed and compared against baseline performance with no haptic aid. This work aims to show that IHA is a valid and promising alternative to the other approaches, which fall into the DHA category.
Download or read book Haptics for Teleoperated Surgical Robotic Systems written by M. Tavakoli and published by World Scientific. This book was released on 2008 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance. Sample Chapter(s). Introduction (1,826 KB). Contents: Introduction; Sensorized Surgical Effector (Slave); Haptic User Interface (Master); Unilateral Teleoperation Control; Bilateral Teleoperation Control; Substitution for Haptic Feedback: Bilateral Teleoperation Control Under Time Delay. Readership: Researchers in robotics, teleoperation, haptics, virtual reality, sensor technology, human machine interaction, and minimally invasive surgery and therapy.
Download or read book Network based Haptic Systems with Time Delays written by Bogdan Cristian Liacu and published by . This book was released on 2012 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decades, virtual environments have become very popular and are largely used in many domains as, for example, prototyping, trainings for different devices, assistance in completing difficult tasks, etc. The interaction with the virtual reality, as well as the feedback force, is assured by haptic interfaces. Generally, such systems are affected by communication and processing time-delays, resulting in a deterioration of performances. In this thesis, a complete study of the existing methods, as well as theoretical tools and new solutions, are proposed for the haptic framework. First, a comparative study, based on the experimental results obtained on a 1-dof haptic system, highlights the advantages and drawbacks of the most common control algorithms ported from teleoperation to haptics. Next, the theoretical tools needed in analyzing the stability of the delayed systems in different situations, as well as the physical limitations of the experimental platforms considered, are examined. Besides the standard case of constant time-delays, uncertainties are also considered and modeled by different types of distributions (uniform, normal and gamma distribution with gap). In the sequel, for overcoming the drawback of time-delays, two new approaches are proposed. First, the use of Smith predictor-based control is addressed and a specific solution for haptic systems is developed and discussed. The main idea is to introduce into the Smith predictor the environmental forces by using the additional information from the virtual reality regarding the distances between the controlled virtual object and other objects in the scene. To overcome the loss of performances induced by using a fixed gain in the controllers for all situations (free or restricted motions), the second approach proposes a gain-scheduling Proportional Derivative control strategy depending on the distance until a possible collision. Both approaches are experimentally validated on a 3-dof haptic platform, under different scenarios elaborated gradually from simple situations - free and restricted motion, contacts with moving objects, to more complex situations - virtual box with fixed or moving sides.
Download or read book Control Design for Haptic Systems written by Suyong Kim and published by Springer Nature. This book was released on with total page 149 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Haptics Generating and Perceiving Tangible Sensations Part I written by Astrid M. L. Kappers and published by Springer. This book was released on 2010-07-06 with total page 405 pages. Available in PDF, EPUB and Kindle. Book excerpt: Annotation 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 Proceedings of the Conference on Experimental Research in Computer Systems written by Lawrence Snyder and published by . This book was released on 1997 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book A Stable and Transparent Framework for Adaptive Shared Control of Robots written by Ribin Balachandran and published by Springer Nature. This book was released on 2024-01-29 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or shared control. This monograph focuses on a special form of shared control, namely mixed-initiative, where the final command to the robot is a weighted sum of the commands from the operator and the autonomous controller. The weights (fixed or adaptive), called authority allocation (AA) factors, decide who has more control authority over the robot. Several research groups use different methods to adapt the AA factors online and the benefits of adaptive mixed-initiative shared control have been well established in terms of task completion success and operator usability. However, stability of the overall shared control framework, with communication time-delays between the operator and the robot, is a field that has not been examined extensively. This monograph presents methods to improve performance and stability in shared control so that the possibilities of its applications can be widened. Firstly, methods to improve the haptic feedback performance of teleoperation are developed. Secondly, methods to stabilize adaptive shared control systems, while still ensuring high teleoperation performance, are proposed. The methods are validated on multiple robotic systems and they were applied in several projects, both in space and terrestrial domains. With the aforementioned contributions, this monograph provides an overarching framework to improve synergy between humans and robots. The flexibility of the framework allows integration of existent teleoperation and shared control approaches, which further promotes synergy within the robotics community.
Download or read book Journal of Rehabilitation Research Development written by and published by . This book was released on 2006 with total page 1120 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Journal of Rehabilitation R D written by and published by . This book was released on 2006 with total page 640 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Remote Control Robotics written by Craig Sayers and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 245 pages. Available in PDF, EPUB and Kindle. Book excerpt: The author begins with a basic introduction to robot control and then considers the important problems to be overcome: delays or noisy control lines, feedback and response information, and predictive displays. Readers are assumed to have a basic understanding of robotics, though this may be their first exposure to the subject of telerobotics. Both professional engineers and roboticists will find this an invaluable introduction to this subject.
