A 3D interface device with force feedback: a virtual work space for pick-and-place tasks

2002 ◽  
Author(s):  
M. Ishii ◽  
M. Sato
Keyword(s):  
Force Feedback ◽  
Virtual Work ◽  
Work Space ◽  
Pick And Place ◽  
Interface Device

Presentation of Assembly Condition and Subassembly Function Using Two Force Feedback Displays

2000 ◽  
Vol 12 (1) ◽  
pp. 2-10
Author(s):  
Ryoko Furusawa ◽  
◽  
Kazuaki Tanaka ◽  
Norihiro Abe ◽  
Katsuya Matsunaga ◽  
...  
Keyword(s):  
Force Feedback ◽  
Virtual Work ◽  
Daily Life ◽  
Reaction Force ◽  
The State ◽  
Work Space ◽  
Machine Parts ◽  
Haptic Sensation

Assembling is one of the important factors in our daily life. The aim of assembling is to obtain a particular function from the subassembly which is generated by putting some parts together. This fact shows that assembling machine parts is possibily the most appropriate example to exeute. If we assemble some machine parts, we decide the positions by their shapes, and then, make sure both the state of parts by reaction force fed back to the hand when a part touches other parts and the behavior of the subassembly. In addition, it is advisable to use both hands for assembly. In this research, we constructed a virtual work space using a force display which gives us haptic sensation returned from not only assembling operation but collaboration with both hands.

scholarly journals Space Interface Device for Artificial Reality – SPIDAR –

1997 ◽  
Vol 9 (3) ◽  
pp. 177-184 ◽  
Author(s):  
Makoto Sato ◽  
◽  
Yukihiro Hirata ◽  
Hiroshi Kawarada
Keyword(s):  
Virtual Work ◽  
Three Dimensional ◽  
Computer Processing ◽  
Work Space ◽  
Three Dimensional Objects ◽  
Human Interface ◽  
Output Device ◽  
Shape Models ◽  
End Effectors ◽  
Interface Device

In order to realize a human interface for the efficient modeling of three-dimensional shapes over the computer, it is necessary to create an environment in which shape models can be manipulated in the same way as their actual three-dimensional objects. Such an environment is called a virtual work space. In case that a human manipulates an object with his or her own hands, that person unconsciously uses the sensations, such as those of sight, touch, and force. In order to compose a virtual work space, it is important that information on such sensations be given comprehensively to a human. Moreover, it is necessary that all this information be generated artificially through computer processing. On the basis of these observations, the present paper newly proposes a space interface device SPIDAR as an input/output device necessary for composing a virtual work space. This device can not only obtain information on the positions of end-effectors but also provide information concerning the sensation of force to the end-effectors. Furthermore, an experiment is carried out for investigating the effect of information concerning the sensation of force on the direct manipulability of three-dimensional shapes in this virtual work space, and its effectiveness is verified.

Development of Virtual Work Space with Force Feedback using HapticWorkBench

2001 ◽  
Vol 2001.10 (0) ◽  
pp. 323-324
Author(s):  
Mutsuhiro NAKASHIGE ◽  
Makoto SAITO ◽  
Koichi HIROTA ◽  
Michitaka HIROSE
Keyword(s):  
Force Feedback ◽  
Virtual Work ◽  
Work Space

scholarly journals A Gesture-Based Teleoperation System for Compliant Robot Motion

2019 ◽  
Vol 9 (24) ◽  
pp. 5290 ◽  
Author(s):  
Wei Zhang ◽  
Hongtai Cheng ◽  
Liang Zhao ◽  
Lina Hao ◽  
Manli Tao ◽  
...  
Keyword(s):  
Force Feedback ◽  
Feedback System ◽  
Robot Motion ◽  
Low Resolution ◽  
Left Hand ◽  
Teleoperation System ◽  
Pick And Place ◽  
Compliant Robot ◽  
The Right ◽  
Human Motions

Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for compliant robot motion is proposed. By using the left hand as the commander and the right hand as a positioner, different operation modes and scaling ratios can be tuned on-the-fly to meet the accuracy and efficiency requirements. Moreover, a vibration-based force feedback system was developed to provide the operator with a telepresence capability. The pick-and-place and peg-in-hole tasks were used to test the effectiveness of the teleoperation system we developed. The experiment results prove that the gesture-based teleoperation system is effective at handling compliant robot motions.

scholarly journals Design and Analysis of a Novel Schönflies Motion Parallel Robot with Full Cycle Rotation

2021 ◽  
Author(s):  
Luquan Li ◽  
Yuefa Fang ◽  
Lin Wang ◽  
Jiaqiang Yao
Keyword(s):  
Complex Dynamics ◽  
Virtual Work ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Parallel Robots ◽  
The Novel ◽  
Scara Robot ◽  
Pick And Place ◽  
Place Task ◽  
Schönflies Motion

Abstract Due to the complex structures of multi-limbed parallel robots, conventional parallel robots generally have limited workspace, complex kinematics, and complex dynamics, which increases the application difficulty of parallel robot in industrial engineering. To solve the above problems, this paper proposes a single-loop Schönflies motion parallel robot with full cycle rotation, the robot can generate Schönflies motion by the most simplified structure. The novel Schönflies motion parallel robot is a two-limb parallel mechanism with least links and joints, and each limb is driven by a 2-degree of freedom (DOF) cylindrical driver (C-driver). The full cycle rotation of the output link is achieved by “…R-H…” structure, where the revolute (R) and helical (H) joints are coaxial. Mobility, kinematics, workspace and singularity analysis of novel Schönflies motion parallel robot are analyzed. Then, dynamic model is formulated based on the principle of virtual work. Moreover, a pick-and-place task is implemented by proposed Schönflies motion parallel robot and a serial SCARA robot, respectively. The simulation results verify the correctness of the theoretical model. Furthermore, dynamics performances of Schönflies motion parallel robot and serial SCARA robot are compared, which reveal the performance merits of proposed Schönflies motion parallel robot.

A 3D Spatial Interface Device Using Tensed Strings

1994 ◽  
Vol 3 (1) ◽  
pp. 81-86 ◽  
Author(s):  
Masahiro Ishii ◽  
Makoto Sato
Keyword(s):  
Virtual Environments ◽  
Virtual Objects ◽  
Pick And Place ◽  
Interface Device

This paper describes a 3D kinesthetic interface device using tensed strings. The results of the experiments on pick-and-place tasks show that not only sensations of collision but also weights of virtual objects are important in virtual environments.

Sliding Mode Friction Compensation for a 20 DOF Sensor Glove

2000 ◽  
Vol 122 (4) ◽  
pp. 611-615 ◽  
Author(s):  
Pe´ter Korondi ◽  
Pe´ter T. Szemes ◽  
Hideki Hasimoto
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Sliding Mode ◽  
Friction Compensation ◽  
Practical Application ◽  
Human Interface ◽  
Direct Model ◽  
Chattering Free ◽  
Interface Device

A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom. [S0022-0434(00)01104-7]

Constant Visual and Haptic Time Delays in Simulated Bilateral Teleoperation: Quantifying the Human Operator Performance

2013 ◽  
Vol 22 (4) ◽  
pp. 271-290 ◽  
Author(s):  
Tariq Abuhamdia ◽  
Jacob Rosen
Keyword(s):  
Time Delay ◽  
Time Delays ◽  
Human Performance ◽  
Force Feedback ◽  
Bilateral Teleoperation ◽  
Haptic Information ◽  
Position Errors ◽  
Pick And Place ◽  
Place Task ◽  
Two Delays

Visual feedback and force feedback (haptics) are the two streams of information in a robotic bilateral teleoperation where the operator manipulates a robot in a remote location. Delivering the visual and the haptic information depends in part on the characteristics of the communication network and results in a nonsynchronized delay. The goal is to study the effect of constant nonsynchronized and synchronized time delay of visual and haptic information on the human teleoperation performance. The experimental setup included a virtual reality environment, which allows the operator to manipulate the virtual objects in a simulated remote environment through a haptic device that renders the force feedback. The visual and the haptic information were delayed independently in the range of 0–500 ms, creating 121 different scenarios of synchronized and nonsynchronized delays. Selecting specific parameters of the remote virtual environment guaranteed stable teleportation, given the time delays under study. The experimental tasks included tracing predefined geometrical shapes and a pick-and-place task, which simulates both structured and unstructured interactions under the influence of guiding forces. Eight subjects (n = 8) participated in the experiment performing three repetitions of three different teleoperation tasks with 121 combinations of visual and haptic time delays. The measured parameters that were used to assess the human performance were the task completion time and the position errors expressed as a function of the visual and the haptic time delay. Then, regression and ANOVA analyses were performed. The results indicated that the human performance is a function of the sum of the two delays. As the sum of the two delays increases, the human performance degrades and is expressed with an increase in completion time and position errors. The performance degradation is more pronounced in the pick-and-place task compared to the tracing task. In scenarios where the visual and the haptics information were out of synchronization, the human performance was better than intentionally delaying one source of information in an attempt to synchronize and unify the two delays. The results of this study may be applied to any teleoperation tasks over a network with inherent time delays and more specifically to telesurgery in which performance degradation due to time delay has a profound effect on the quality of the healthcare delivered, patient safety, and ultimately the outcomes of the surgical procedure itself.

scholarly journals THE EFFECTS OF MULTIMODAL INTERFACE ON WORK EFFICIENCY IN VIRTUAL WORK SPACE

1995 ◽  
Vol 115 (2) ◽  
pp. 261-266
Author(s):  
Tetsuya Harada ◽  
Yasuo Sugawara ◽  
Makoto Sato ◽  
Takeshi Fukao
Keyword(s):  
Virtual Work ◽  
Multimodal Interface ◽  
Work Efficiency ◽  
Work Space
Sign in / Sign up

Export Citation Format

Share Document