Human-machine cooperative telemanipulation with motion and force scaling using task-oriented virtual tool dynamics

Itoh, Takuzì; Kosuge, Kazuhiro; Fukuda, Toshio

doi:10.1109/70.880801

Cited by 61 publications

(29 citation statements)

References 12 publications

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“…"Virtual fixtures" [1,17,[26][27][28][29] (also appearing under the name of "synthetic fixtures" [31], "virtual mechanisms" [15,24], "virtual tools" [14], "virtual paths and surfaces" [25], and "haptically augmented teleoperation" [34]) have been applied to robotic manipulators using a variety of methods, though they can generally be categorized as either guidance virtual fixtures or forbidden-region virtual fixtures. As their name implies, guidance virtual fixtures (GVFs) help keep the manipulator on desired paths or surfaces.…”

Section: Prior Work On Virtual Fixturesmentioning

confidence: 99%

Haptic Virtual Fixtures for Robot-Assisted Manipulation

Abbott

Marayong

Okamura

Springer Tracts in Advanced Robotics

236

154

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Summary.Haptic virtual fixtures are software-generated force and position signals applied to human operators in order to improve the safety, accuracy, and speed of robot-assisted manipulation tasks. Virtual fixtures are effective and intuitive because they capitalize on both the accuracy of robotic systems and the intelligence of human operators. In this paper, we discuss the design, analysis, and implementation of two categories of virtual fixtures: guidance virtual fixtures, which assist the user in moving the manipulator along desired paths or surfaces in the workspace, and forbidden-region virtual fixtures, which prevent the manipulator from entering into forbidden regions of the workspace. Virtual fixtures are analyzed in the context of both cooperative manipulation and telemanipulation systems, considering issues related to stability, passivity, human modeling, and applications.

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Section: Prior Work On Virtual Fixturesmentioning

confidence: 99%

Haptic Virtual Fixtures for Robot-Assisted Manipulation

Abbott

Marayong

Okamura

Springer Tracts in Advanced Robotics

236

154

View full text Add to dashboard Cite

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“…Typical application modes of these robots include entertainment, cooperation as in [Lawitzky et al, 2010], teleoperation (e.g. [Itoh et al, 2000]) etc. In cooperation mode, the sought behavior is typically that of a master-slave relationship [Kazerooni and Guo, 1993].…”

Section: Introductionmentioning

confidence: 99%

An event-controlled online trajectory generator based on the human-robot interaction force processing

Jlassi

Tliba

Chitour

2014

Industrial Robot: An International Journal

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The problem of robotic co-manipulation is often addressed using impedance control based methods where we seek to establish a mathematical relation between the velocity of the human-robot interaction point and the force applied by the human operator at this point. This paper addresses the problem of co-manipulation for handling tasks seen as a constrained optimal control problem. The proposed point of view relies on the implementation of a specific online trajectory generator (OTG) associated to a kinematic feedback loop. This OTG is designed so as to translate the human operator intentions to ideal trajectories that the robot must follow. It works as an automaton with two states of motion whose transitions are controlled by comparing the magnitude of the force to an adjustable threshold, in order to enable the operator to keep authority over the robot's states of motion. To ensure the smoothness of the interaction, we propose to generate a velocity profile collinear to the force applied at the interaction point. The feedback control loop is then used to satisfy the requirements of stability and of trajectory tracking to guarantee assistance and operator security. The overall strategy is applied to the penducobot problem.

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“…For instance, (Itoh et al, 2000) proposed a control law based on a cancellation of the open-loop nonlinear dynamics, which was replaced by a desired virtual tool dynamics. (Lee and Li, 2005) decomposed a teleoperation system into a shape and a locked system in order to implement scaled coordination between master and slave robots.…”

Section: Introductionmentioning

confidence: 99%

Sliding-mode bilateral teleoperation control design for master–slave pneumatic servo systems

Moreau

Pham

Tavakoli

et al. 2012

Control Engineering Practice

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This paper presents a novel bilateral control design scheme for pneumatic master-slave teleoperation systems that are actuated by low-cost solenoid valves. The motivation for using pneumatic actuators in lieu of electrical actuators is that the former has higher force to mass ratio than the latter and is inert to magnetic fields, which is crucial in certain teleoperation applications such as MRI-guided, robot-assisted surgery. A sliding mode approach, called the three-mode control scheme, is incorporated into a two-channel bilateral teleoperation architecture, which can implement a position-position, force-force, or force-position scheme. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design performance is experimentally verified on a single-degree-of-freedom pneumatic teleoperation system actuated by on/off valves. Experimental results show high accuracies in terms of position and force tracking under free-space motion and hard-contact motion in the teleoperation system. Another purpose of this paper is to demonstrate the possibility to improve the valve lifetime by increasing the number of control levels. To do this, a new control design, called the five-mode control scheme, is developed and compared with the three-mode scheme in time domain as well as in frequency domain.

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Human-machine cooperative telemanipulation with motion and force scaling using task-oriented virtual tool dynamics

Cited by 61 publications

References 12 publications

Haptic Virtual Fixtures for Robot-Assisted Manipulation

Haptic Virtual Fixtures for Robot-Assisted Manipulation

An event-controlled online trajectory generator based on the human-robot interaction force processing

Sliding-mode bilateral teleoperation control design for master–slave pneumatic servo systems

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