Telepresence feedback and input systems for a twin armed mobile robot

Caldwell, Darwin G.; Wardle, A.; Koçak, Onur; Goodwin, Michael

doi:10.1109/100.540147

Cited by 19 publications

(8 citation statements)

References 21 publications

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“…In order to increase the workspace of such devices, usually hand controlled input devices such as a joystick or mouse are used [1] or some indexing technique is applied. If control by the operator's hand is not possible, as in the case of bimanual manipulation, these devices can be also substituted by a special kind of foot pedal [2], [3].…”

Section: State Of the Artmentioning

confidence: 99%

Towards a mobile haptic interface for bimanual manipulations

Peer

Komoguchi

Buss

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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The concept of a mobile haptic interface for bimanual manipulations in 6 d.o.f. is presented. The design of this mobile haptic interface is based on a modular system consisting of two components: two haptic interfaces and a mobile platform. This work mainly addresses the design and control concepts of the haptic interfaces, which are planned to be mounted on the mobile platform. The interfaces dispose of a large workspace and a high force/torque capability. The design and control concepts of these new interfaces enable a decoupling of translational from rotational movements. Such a decoupling helps to simplify significantly the control algorithms which take care of the interaction between mobile platform and haptic interfaces. Evaluation results concerning the Cartesian position tracking performance and the impedance display fidelity provide an insight into the performance of the developed system.

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Section: State Of the Artmentioning

confidence: 99%

Towards a mobile haptic interface for bimanual manipulations

Peer

Komoguchi

Buss

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The feedback of various senses, including the sense of touch, to the expert is desirable; although the WBNS ignores many senses since the wearable systems have limitations on their size, weight, etc. According to research on telepresence robots, which is able to display the sense of touch, the techniques for presenting the sense of touch are useful for a large number of practical teleoperation tasks [14] [15]. The sensors worn by the cooperator and the sensory information display of the expert in Fig.…”

Section: A Basic Mechanism Of Wearable Behavior Navigation System (Wmentioning

confidence: 99%

A study on wearable behavior navigation system - Development of simple parasitic humanoid system -

Oyama

Watanabe

Mikado

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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Performing general human behavior by experts' navigation is expected to be realized as wearable and ubiquitous technologies and computing develop. For simple, ordinary behavior, a person does not need the assistance of an expert. However, if one is standing next to an injured/ill person, one needs the instruction on performing first aid treatment from an expert. The wearer of the wearable behavior navigation system will be able to conduct first aid treatment as an expert would. We have developed the wearable behavior navigation systems using Augmented Reality technology, mainly for the navigation of the first aid treatment and for escape from dangerous areas, such as a building on fire. The effectiveness of the wearable navigation systems has been evaluated by a number of experiments. In this paper, the basic mechanism to realize general human behavior navigation is presented, along with the concrete configuration of the prototype of the navigation systems, and the experimental evaluation.

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“…They also found that proportional feedback was much more effective than more limited protocols, such as binary feedback. Other teleoperation and virtual environment systems with hand-based feedback include [9], [5].…”

Section: Previous Researchmentioning

confidence: 99%

Toward tactilely transparent gloves: Collocated slip sensing and vibrotactile actuation

Romano

Gray

Jacobs

et al. 2009

World Haptics 2009 - Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoper

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Tactile information plays a critical role in the human ability to manipulate objects with one's hands. Many environments require the use of protective gloves that diminish essential tactile feedback. Under these circumstances, seemingly simple tasks such as picking up an object can become very difficult. This paper introduces the SlipGlove, a novel device that uses an advanced sensing and actuation system to return this vital tactile information to the user. Our SlipGlove prototypes focus on providing tactile cues associated with slip between the glove and a contact surface. Relative motion is sensed using optical mouse sensors embedded in the glove's surface. This information is conveyed to the wearer via miniature vibration motors placed inside the glove against the wearer's skin. The collocation of slip sensing and tactile feedback creates a system that is natural and intuitive to use. We report results from a human subject study demonstrating that the SlipGlove allows the wearer to approach the capabilities of bare skin in detecting and reacting to fingertip slip. Users of the SlipGlove also had significantly faster and more consistent reaction to fingertip slip when compared to a traditional glove design. The SlipGlove technology allows us to enhance human perception when interacting with real environments and move toward the goal of a tactilely transparent glove. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/498 Toward Tactilely Transparent Gloves: Collocated Slip Sensing and Vibrotactile ActuationJoseph M. Romano, Steven R. Gray, Nathan T. Jacobs and Katherine J. KuchenbeckerHaptics Group, GRASP Laboratory University of Pennsylvania, USA {jrom, stgray, njacobs, kuchenbe}@seas.upenn.edu ABSTRACT Tactile information plays a critical role in the human ability to manipulate objects with one's hands. Many environments require the use of protective gloves that diminish essential tactile feedback. Under these circumstances, seemingly simple tasks such as picking up an object can become very difficult. This paper introduces the SlipGlove, a novel device that uses an advanced sensing and actuation system to return this vital tactile information to the user. Our SlipGlove prototypes focus on providing tactile cues associated with slip between the glove and a contact surface. Relative motion is sensed using optical mouse sensors embedded in the glove's surface. This information is conveyed...

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Telepresence feedback and input systems for a twin armed mobile robot

Cited by 19 publications

References 21 publications

Towards a mobile haptic interface for bimanual manipulations

Towards a mobile haptic interface for bimanual manipulations

A study on wearable behavior navigation system - Development of simple parasitic humanoid system -

Toward tactilely transparent gloves: Collocated slip sensing and vibrotactile actuation

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