Development and Testing of a Telemanipulation System With Arm and Hand Motion

2000 ◽  
Author(s):  
Michael L. Turner ◽  
Ryan P. Findley ◽  
Weston B. Griffin ◽  
Mark R. Cutkosky ◽  
Daniel H. Gomez
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Industrial Robot ◽  
Robot Hand ◽  
Robot Arm ◽  
Task Execution ◽  
Hand Motion ◽  
Instrumented Glove ◽  
Simple Manipulation ◽  
Dexterous Robot Hand

Abstract This paper describes the development of a system for dexterous telemanipulation and presents the results of tests involving simple manipulation tasks. The user wears an instrumented glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in block-stacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimental to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.

The Command of a Virtual Industrial Robot Using a Dedicated Haptic Interface

2013 ◽  
Vol 837 ◽  
pp. 543-548 ◽  
Author(s):  
Silviu Butnariu ◽  
Florin Gîrbacia
Keyword(s):  
Haptic Feedback ◽  
Industrial Robot ◽  
Structural Similarity ◽  
Haptic Device ◽  
Haptic Interface ◽  
Robot Arm ◽  
Test Results ◽  
Human Arm ◽  
Angular Data ◽  
Articulated Robot

In this paper is presented a study regarding the possibilities of commandinga virtual robot using a haptic interface. In order to demonstrate the functionality of this concept, a dedicated device with 1 DOF was developed. This device consists of twin motor-gearbox able to acquire and transmit the angular data of the shaft and return a haptic feedback corresponding to the robot movement. The proposed haptic device makes it possible to command one joint of an industrial robot and can be used as an essential component for the development of an exoskeleton for human arm and is able to generate a haptic interaction for all the joints. The exoskeleton solution will allow a structural similarity between the haptic device and an articulated robot arm. The test results with haptic feedback scenarios show that the proposed system can help inexperienced users to handle robot operation and programming tasks in an intuitive way.

scholarly journals Two-Fingered Haptic Device for Robot Hand Teleoperation

2011 ◽  
Vol 2011 ◽  
pp. 1-8 ◽  
Author(s):  
Futoshi Kobayashi ◽  
George Ikai ◽  
Wataru Fukui ◽  
Fumio Kojima
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Reaction Force ◽  
Feedback System ◽  
Middle Finger ◽  
Distal Segment ◽  
Haptic Device ◽  
Robot Hand

A haptic feedback system is required to assist telerehabilitation with robot hand. The system should provide the reaction force measured in the robot hand to an operator. In this paper, we have developed a force feedback device that presents a reaction force to the distal segment of the operator's thumb, middle finger, and basipodite of the middle finger when the robot hand grasps an object. The device uses a shape memory alloy as an actuator, which affords a very compact, lightweight, and accurate device.

Physical Interaction with a Virtual Knee Joint—The 9 DOF Haptic Display of the Munich Knee Joint Simulator

2006 ◽  
Vol 15 (5) ◽  
pp. 570-587 ◽  
Author(s):  
Martin Frey ◽  
Jens Hoogen ◽  
Rainer Burgkart ◽  
Robert Riener
Keyword(s):  
Knee Joint ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Complex Dynamics ◽  
Industrial Robot ◽  
Experimental Tests ◽  
Practical Training ◽  
Physical Interaction ◽  
Haptic Display ◽  
Mechanical Stiffness

In specific fields, medical education at many universities is rather theoretical and the amount of practical training is limited. A significant improvement can be achieved using virtual reality training stations with lifelike visual, acoustic, tactile, and kinesthetic feedback. Particularly, when simulating procedures that require direct contact with the patient body, a realistic haptic simulation addressing tactile and kinesthetic senses can be essential for the acceptance of virtual simulation stations. A purely passive phantom may provide realistic haptic feedback, but its properties cannot be changed over time. This paper presents the haptic display of the Munich Knee Joint Simulator, which was developed to improve training and education of physical knee joint examinations. The haptic interface comprises a combination of passive phantom segments providing realistic tactile sensations, and strong actuators generating highly dynamic kinesthetic force feedback. A 3 degree of freedom (DOF) manipulator was developed in this study to drive the thigh prosthesis and one 6 DOF industrial robot was used to actuate the shank prosthesis. Both manipulators are driven by hybrid admittance-impedance controllers capable of simulating the complex dynamics of the thigh and the shank. Both actuators are equipped with a 6 DOF force torque sensor and they are virtually coupled by an analytical knee joint model. The proposed setup is capable of simulating a mechanical stiffness as high as 80 kN/m in the translatory DOF and simultaneously allows free motion in the rotatory DOF. Experimental tests of the simulator with orthopedic physicians proved the usability of the proposed concept.

scholarly journals Controlling of Robot Hand by Using Microcontroller with Visual Basic

2018 ◽  
Vol 15 (2) ◽  
pp. 648-655
Author(s):  
Huda Hatam Dalef ◽  
Faieza Abdul Aziz ◽  
Wan Zuha Wan Hasan ◽  
Mohd Khairol Anuar Mohd Ariffin
Keyword(s):  
Industrial Robot ◽  
Visual Basic ◽  
Empirical Method ◽  
Robot Hand ◽  
Robot Arm ◽  
Robot Controller ◽  
Computer Based ◽  
Robot Configuration ◽  
Configuration Changes ◽  
Better Than

The robot arm is the most popular robotic form used in industry. Thus, it is crucial to make a system programming which could controlled the movement of each part in the industrial robot to make it works properly. One of the simplest models of the robot arm is EDARM ED-7100 which has a controller to control the movement of the robot arm manually. In this study, the robot controller has been redesigned in order to improve this robot's function. The new controller system used AT89S52 microcontroller which has wire connected to the robot hand. A function has been added with this controller to improve the system of controlling and becomes better than the previous system (only manually). The functions of the new system include three modes for operating: manual, automatic, and computer-based. Mathematical model has been derived through an empirical method to specify the robot configuration changes. It was found from the experiment that the robot arm's movement is following a linear function.

scholarly journals Multimodal Mixed Reality Impact on a Hand Guiding Task with a Holographic Cobot

2020 ◽  
Vol 4 (4) ◽  
pp. 78
Author(s):  
Andoni Rivera Pinto ◽  
Johan Kildal ◽  
Elena Lazkano
Keyword(s):  
Augmented Reality ◽  
Industrial Production ◽  
User Study ◽  
Haptic Feedback ◽  
Mixed Reality ◽  
Robot Arm ◽  
Pick And Place ◽  
Place Task ◽  
Guidance Technique ◽  
The Impact

In the context of industrial production, a worker that wants to program a robot using the hand-guidance technique needs that the robot is available to be programmed and not in operation. This means that production with that robot is stopped during that time. A way around this constraint is to perform the same manual guidance steps on a holographic representation of the digital twin of the robot, using augmented reality technologies. However, this presents the limitation of a lack of tangibility of the visual holograms that the user tries to grab. We present an interface in which some of the tangibility is provided through ultrasound-based mid-air haptics actuation. We report a user study that evaluates the impact that the presence of such haptic feedback may have on a pick-and-place task of the wrist of a holographic robot arm which we found to be beneficial.

Haptic Teleoperation of Humanoid Robot Hand Using Three-Dimensional Force Feedback

2009 ◽  
Vol 42 (16) ◽  
pp. 431-436 ◽  
Author(s):  
Mai Mishima ◽  
Haruhisa Kawasaki ◽  
Tetsuya Mouri ◽  
Takahiro Endo
Keyword(s):  
Humanoid Robot ◽  
Force Feedback ◽  
Three Dimensional ◽  
Robot Hand

SOLVING THE INVERSE KINEMATICAL PROBLEM OF A ROBOT ARM BY USING GROEBNER BASIS

2021 ◽  
Vol 13 (1) ◽  
pp. 15
Author(s):  
Alisya Masturoh ◽  
Bambang Hendriya Guswanto ◽  
Triyani Triyani
Keyword(s):  
Robot Hand ◽  
Polynomial Equations ◽  
Robot Arm ◽  
Groebner Basis

The inverse kinematical problem of a robot arm is a problem to find some appropriate joint configurations for a pair of position and direction of a robot hand which is represented by a polynomial equations system. The system is solved by employing Groebner basis notion. Thus, the appropriate joint configurations for a pair of position and direction of the robot hand are obtained.

Semi-Immersive Virtual Turbine Engine Simulation System

2018 ◽  
Vol 35 (2) ◽  
pp. 149-160 ◽  
Author(s):  
Mustufa H. Abidi ◽  
Abdulrahman M. Al-Ahmari ◽  
Ali Ahmad ◽  
Saber Darmoul ◽  
Wadea Ameen
Keyword(s):  
Virtual Reality ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Design System ◽  
Detection Mechanism ◽  
Turbine Engine ◽  
Surround Sound ◽  
Process Verification ◽  
Engine Simulation ◽  
Assembly Operations

AbstractThe design and verification of assembly operations is essential for planning product production operations. Recently, virtual prototyping has witnessed tremendous progress, and has reached a stage where current environments enable rich and multi-modal interaction between designers and models through stereoscopic visuals, surround sound, and haptic feedback. The benefits of building and using Virtual Reality (VR) models in assembly process verification are discussed in this paper. In this paper, we present the virtual assembly (VA) of an aircraft turbine engine. The assembly parts and sequences are explained using a virtual reality design system. The system enables stereoscopic visuals, surround sounds, and ample and intuitive interaction with developed models. A special software architecture is suggested to describe the assembly parts and assembly sequence in VR. A collision detection mechanism is employed that provides visual feedback to check the interference between components. The system is tested for virtual prototype and assembly sequencing of a turbine engine. We show that the developed system is comprehensive in terms of VR feedback mechanisms, which include visual, auditory, tactile, as well as force feedback. The system is shown to be effective and efficient for validating the design of assembly, part design, and operations planning.

Sign in / Sign up

Export Citation Format

Share Document