Development of a robotic haptic interface to assist the performance of vocational tasks by people with disabilities

Pernalete, N.; Yu, Wentao; Dubey, Rajiv; Moreno, Wilfrido

doi:10.1109/robot.2002.1014717

Cited by 23 publications

(18 citation statements)

References 8 publications

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“…To achieve good condition numbers, the following inequalities that must hold at all configurations are employed: (9) (10) (11) where the subscript in denotes the values of the angles at point C. The requirements at C are more stringent than those along the path, for the reason discussed above.…”

Section: Five-bar Linkage Sizingmentioning

confidence: 99%

“…A training simulator for the diagnosis of prostate cancer using the Phantom haptic interface is described in [9]. The same interface is used in the Spine Biopsy Simulator described in [10], and as part of a robotic haptic system that provides assistance to people with disabilities [11]. Freedom-7 is a haptic device with six DOFs for translation and rotation, plus a seventh for the movement of tools like scissors and forceps.…”

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confidence: 99%

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Design and implementation of a haptic device for training in urological operations

Vlachos

Papadopoulos

Mitropoulos

2003

IEEE Trans. Robot. Automat.

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Abstract-Virtual reality is becoming very important for training medical surgeons in various operations. Interfacing users with a virtual training environment requires the existence of a properly designed haptic device. This paper presents the design and implementation of a new force feedback haptic mechanism with five active degrees of freedom (DOFs), which is used as part of a training simulator for urological operations. The mechanism consists of a 2-DOF, 5-bar linkage, and a 3-DOF spherical joint, designed to present low friction, inertia and mass, and to be statically balanced. The device is suitable for the accurate application of small forces and moments. All five actuators of the haptic device are base-mounted dc motors and use a force transmission system based on capstan drives, pulleys, and tendons. The paper describes the overall design and sizing considerations, the resulting kinematics and dynamics, the force feedback control algorithm, and the hardware employed. Experimental results are provided.Index Terms-Force feedback, haptic devices, training medical simulators, urological operations.

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Section: Five-bar Linkage Sizingmentioning

confidence: 99%

mentioning

confidence: 99%

Design and implementation of a haptic device for training in urological operations

Vlachos

Papadopoulos

Mitropoulos

2003

IEEE Trans. Robot. Automat.

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“…There have been previous attempts to provide computer based assistance by combining teleoperation and autonomous modes in shared and traded control formulations [3] [4] [5], by means of virtual fixtures [6] and potential fields [7]. Previous work at the Rehabilitation Robotics Laboratory at the University of South Florida has focused on reducing operators fatigue by providing assistance depending on the accuracy of sensor and model information [8], augmenting the performance of motionimpaired users in job-related tasks using scaled teleoperation and haptics [9], and providing assistance based on real-time environmental information and user intention [10]. In this work we use the laser sensor to minimize the physical and mental burden on the human user during task execution.…”

Section: Introductionmentioning

confidence: 99%

Laser-assisted telerobotic control for enhancing manipulation capabilities of persons with disabilities

Khokar

Reed

Alqasemi

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper, we demonstrate the use of range information from a laser sensor mounted on the end-effector of a remote robot manipulator to assist persons with limited upper body strength carry out Activities of Daily Living in unstructured environments. Laser range data is used to determine goals, identify targets, obstacles, and via points to enable autonomous execution of trajectories. The human operator is primarily involved in higher level decision making; the human user performs minimal teleoperation to identify critical points in the workspace with the laser pointer. Tests on ten healthy human subjects in executing a pick-and-place task showed that laser-based assistance not only increased the speed of task execution by an average of 26.9% while decreasing the physical effort by an average of 85.4%, but also made the task cognitively easier for the user to execute.

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“…This concept was conceived as a general method for introducing computer assistance in task execution without overriding an operator's command to the manipulator. [11], [12].…”

Section: Assistance Functions Development For the Tasksmentioning

confidence: 99%

“…State (8) is a design with force assistance. States (9)(10)(11) are designs with minimum, medium and maximum inertia effects, respectively. State Stop is the last possible state in the sequence of tests.…”

Section: Fig 4 Phantom Haptic Robotmentioning

confidence: 99%

Intelligent Decision Support System for Eye-Hand Coordination Assessment

Grantner

Gottipati

Pernalete

et al.

The 14th IEEE International Conference on Fuzzy Systems, 2005. FUZZ '05.

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-Our goal is to develop an automated assessment and training procedure for children with eye-hand coordination problem. An automated assessment system is expected to reduce the burden and the associated cost of having a trained professional present at any assessment, or training session. The intelligent decision support system will be based upon a fuzzy automaton. By using qualitative (fuzzified) data from the previous test the system will make a decision on the complexity of the next test to be performed.A set of assessment tests, commonly used by occupational therapists, were chosen to implement the various functions using force, inertia and viscosity effects. A test bed will be used for these tasks that consists of a six-degree-of-freedom force-reflecting haptic interface device called PHANToM along with the GHOST SDK Software, and the Intelligent Decision Support System software.

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Development of a robotic haptic interface to assist the performance of vocational tasks by people with disabilities

Cited by 23 publications

References 8 publications

Design and implementation of a haptic device for training in urological operations

Design and implementation of a haptic device for training in urological operations

Laser-assisted telerobotic control for enhancing manipulation capabilities of persons with disabilities

Intelligent Decision Support System for Eye-Hand Coordination Assessment

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