Haptic bilateral control system with visual force compliance controller

Abstract

This paper presents a new haptic bilateral control method with vision-based guidance. The vision-based guidance is realized by the visual force compliance controller which can translate the visual information to assistive force. Integration of an imaging modality effectively further consolidates the servoing procedures. Such information needs to be efficiently rendered to the operator at master system. Particularly, the proposed approach provides real-time visualization and force feedback based guidance for the navigation task. The details concerning the method of implementation of this theory will be explained. Finally, the experimental evaluation of the functionality of this visual compliance controller based on force control is described and discussed.

An integration method between vision-based disturbance observer and bilateral haptic system for robust tracking of target object

“…The conventional web camera [15] with the maximum resolution of 1280 × 1024 pixels and 30 fps frame rates is used as a vision sensor. It is mounted on the camera stand with the facing down direction, so that it can monitor the moving object from above.…”

“…The detection of the object is considered by implementing the image processing [15] to detect the object marker pasted on the object. The object marker used in this research is a simple blue color of line marker as shown in Fig.…”

“…Thus, the calculation of total feedback force for the integrated system in common mode f com can be described as The details of an advent of the compliance controller that is based on the generated force utilizing image information and integrated with the bilateral system can be found in [15] and its block diagram is shown as in Fig. 5.…”

Motion navigation in haptic bilateral system based on vision-based force compliance controller taking object coordinate into account

“…The horizontal movement of the navigated object had been considered by the compliance controller to produce the dedicated virtual force [6]. In other related visual and haptic feedback study, the model-displaced teleoperation (MDT) approach was proposed by [7] to compensate the visual-haptic asynchrony issue.…”

“…The vertical movement of an object had been highlighted in the research. However, both studies [6], [7] did not consider the rotational effect of the measured object in its trajectory movement. Thus, a method that emphasizes the trajectory alteration of the object and its effect on the haptic bilateral system, need to be developed.…”