Feedback strategies for shared control in dexterous telemanipulation

Griffin, Weston B.; Provancher, William R.; Cutkosky, Mark R.

doi:10.1109/iros.2003.1249293

Cited by 23 publications

(13 citation statements)

References 9 publications

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“…The identification of tasks reduces the bandwidth required in the communication channel, as we are not commanding directly the joint positions, but we rely rather on a suitable control system on the slave side that receives a task command and executes it. This takes advantage of a shared autonomy approach [13].…”

Section: Introductionmentioning

confidence: 99%

Toward a task space framework for gesture commanded telemanipulation

Lii

Chen

Roa

et al. 2012

2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication

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This paper introduces a new framework for task space telemanipulation. The TASK space grasping and MANipulation (TaskMan) concept utilizes a library of tasks based on gesture commands, which replaces the conventional mapping required between the human hand and the end effector. Task communication between the human machine interface (HMI) and the robot end effector requires two symbiotic but nonidentical state machines on the master and slave side. The task states on two sides are synchronized via a single channel communication, as opposed to multi-channel joint space or Cartesian mapped information. HAND gesture command for grasping and MANipulation (HandyMan) HMI command algorithm is proposed for the recognition of hand gestures, which incorporates a library of intuitive task gestures to be used by the teleoperator wearing a CyberGlove. The task gestures are used to drive the states of the TaskMan state machines. With the proposed concepts, this work has realized teleoperated grasp and manipulation with a 15-DoF robot hand in task space. Full 6-DoF of object manipulation was achieved with different grasp combinations, and demonstrated higher repeatability, success rate and easier operation compared to conventional joint space teleoperation methods. IEEE RO-MAN: The 21st IEEE International Symposium onRobot and Human Interactive Communication. September 9-13, 2012. Paris, France.978-1-4673-4606-1/12/$31.00 ©2012 IEEE

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Section: Introductionmentioning

confidence: 99%

Toward a task space framework for gesture commanded telemanipulation

Lii

Chen

Roa

et al. 2012

2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication

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show abstract

“…A virtual mapping method was used to connect between the human's hand and the non-anthrophormous slave device, where their feedback strategy was based on the fingertip-level force feedback (Griffin et al, 2003). Our system has the serial link master device but the parallel link slave devices that define a new manipulation approach.…”

Section: Virtual Mapping Methodsmentioning

confidence: 99%

Multiscale Manipulations with Multiple Parallel Mechanism Manipulators

Hwang¹,

Hashimoto²

2008

Parallel Manipulators, New Developments

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“…Griffin et al proposed a virtual mapping method [17] between the human's hand and the non-anthrophormous slave device, where their feedback strategy was based on the fingertip-level force feedback. Our system applies serial connected-type links the master device but parallel connectedtype links of slave devices that define a new manipulation approach.…”

Section: Improved Virtual Mapping Methodsmentioning

confidence: 99%

“…Griffin et al [17] proposed the evaluation study on operability or task performance on the novel feedback strategy in a human-robot shared control framework. To allow more dexterity in the slave while maintaining the human's operability, the SMMS tele-micromanipulation system [15] is proposed in this paper.…”

Section: Introductionmentioning

confidence: 99%

Development of a single-master multi-slave tele-micromanipulation system

et al. 2007

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This paper proposes the development of a human-robot cooperative tele-micromanipulation system through a network. We have developed a novel single-master (PHANToM haptic device) multi-slave (6-d.o.f. parallel manipulator) scaled tele-micromanipulation system which enables human operators to perform meso or small-size object manipulation such as assembly or manufacturing with sufficient telepresence. It is expected to improve the human's operability and the overall dexterity of conventional tele-micromanipulation systems. To overcome the problems of the multiple parallel mechanism manipulator, virtual kinematic mapping is considered, based on the manipulability analysis of the workspace. The pick-and-place experiment results prove the validity of the developed single-master multi-slave system.

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Feedback strategies for shared control in dexterous telemanipulation

Cited by 23 publications

References 9 publications

Toward a task space framework for gesture commanded telemanipulation

Toward a task space framework for gesture commanded telemanipulation

Multiscale Manipulations with Multiple Parallel Mechanism Manipulators

Development of a single-master multi-slave tele-micromanipulation system

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