scholarly journals Haptic-Assisted SMMS Telemicromanipulation Using Virtual Fixture

2006 ◽  
Vol 18 (4) ◽  
pp. 368-374
Author(s):  
Gilgueng Hwang ◽  
◽  
Hideki Hashimoto
Keyword(s):  
Shared Control ◽  
Haptic Guidance ◽  
Block Model ◽  
Contact Phase ◽  
Skill Levels ◽  
Pick And Place ◽  
Virtual Fixture ◽  
Manipulation Strategy

The haptic-assisted user/robot-shared telemicromanipulation we propose uses learning different skill levels to improve operability. This research is expected to enhance teleoperation through haptic guidance based on a virtual fixture. Haptic guidance in the noncontact phase and novel feedback in the contact phase are integrated into a manipulation strategy to realize the haptic-assisted telemanipulation. We tested our proposed algorithms on a single-master multi-slave telemicromanipulation system using the task of improving user operability for user/robot-shared control. Pick-and-place experiments using salmon roe and styrene block model verify the feasibility of our haptic-assisted manipulation.

Shared control of a medical robot with haptic guidance

2016 ◽  
Vol 12 (1) ◽  
pp. 137-147 ◽  
Author(s):  
Linfei Xiong ◽  
Chin Boon Chng ◽  
Chee Kong Chui ◽  
Peiwu Yu ◽  
Yao Li
Keyword(s):  
Shared Control ◽  
Haptic Guidance ◽  
Medical Robot

scholarly journals Intent-Aware Predictive Haptic Guidance and its Application to Shared Control Teleoperation

2021 ◽  
Author(s):  
Kim Tien Ly ◽  
Mithun Poozhiyil ◽  
Harit Pandya ◽  
Gerhard Neumann ◽  
Ayse Kucukyilmaz
Keyword(s):  
Shared Control ◽  
Haptic Guidance

The Task-Dependent Efficacy of Shared-Control Haptic Guidance Paradigms

2012 ◽  
Vol 5 (3) ◽  
pp. 208-219 ◽  
Author(s):  
Dane Powell ◽  
Marcia K. O'Malley
Keyword(s):  
Shared Control ◽  
Haptic Guidance

The Contact Phase of Blood Coagulation in Diabetes Mellitus and in Patients with Vasculopathy

1984 ◽  
Vol 52 (03) ◽  
pp. 221-223 ◽  
Author(s):  
M Christe ◽  
P Gattlen ◽  
J Fritschi ◽  
B Lämmle ◽  
W Berger ◽  
...  
Keyword(s):  
Diabetes Mellitus ◽  
Molecular Weight ◽  
Blood Coagulation ◽  
High Molecular Weight ◽  
Negative Correlation ◽  
Factor Xii ◽  
C1 Inhibitor ◽  
High Molecular Weight Kininogen ◽  
Contact Phase ◽  
Α2 Macroglobulin

SummaryThe contact phase has been studied in diabetics and patients with macroangiopathy. Factor XII and high molecular weight kininogen (HMWK) are normal. C1-inhibitor and also α2-macroglobulin are significantly elevated in diabetics with complications, for α1-macroglobulin especially in patients with nephropathy, 137.5% ± 36.0 (p <0.001). C1-inhibitor is also increased in vasculopathy without diabetes 113.2 ± 22.1 (p <0.01).Prekallikrein (PK) is increased in all patients’ groups (Table 2) as compared to normals. PK is particularly high (134% ± 32) in 5 diabetics without macroangiopathy but with sensomotor neuropathy. This difference is remarkable because of the older age of diabetics and the negative correlation of PK with age in normals.

Design of spline surface vacuum gripper for pick and place robotic arms

2020 ◽  
Vol 4 (2) ◽  
pp. 48-55
Author(s):  
A. S. Jamaludin ◽  
M. N. M. Razali ◽  
N. Jasman ◽  
A. N. A. Ghafar ◽  
M. A. Hadi
Keyword(s):  
Cycle Time ◽  
Industrial Robot ◽  
Annealing Process ◽  
Vacuum Suction ◽  
Robotic Arms ◽  
Custom Made ◽  
Pick And Place ◽  
Manufacturing Procedure ◽  
Production Flexibility ◽  
The Impact

The gripper is the most important part in an industrial robot. It is related with the environment around the robot. Today, the industrial robot grippers have to be tuned and custom made for each application by engineers, by searching to get the desired repeatability and behaviour. Vacuum suction is one of the grippers in Watch Case Press Production (WCPP) and a mechanism to improve the efficiency of the manufacturing procedure. Pick and place are the important process for the annealing process. Thus, by implementing vacuum suction gripper, the process of pick and place can be improved. The purpose of vacuum gripper other than design vacuum suction mechanism is to compare the effectiveness of vacuum suction gripper with the conventional pick and place gripper. Vacuum suction gripper is a mechanism to transport part and which later sequencing, eliminating and reducing the activities required to complete the process. Throughout this study, the process pick and place became more effective, the impact on the production of annealing process is faster. The vacuum suction gripper can pick all part at the production which will lower the loss of the productivity. In conclusion, vacuum suction gripper reduces the cycle time about 20%. Vacuum suction gripper can help lower the cycle time of a machine and allow more frequent process in order to increase the production flexibility.

Sign in / Sign up

Export Citation Format

Share Document