scholarly journals A Portable Intuitive Haptic Device on a Desk for User-Friendly Teleoperation of a Cable-Driven Parallel Robot

2021 ◽  
Vol 11 (9) ◽  
pp. 3823
Author(s):  
Jae-Hyun Park ◽  
Min-Cheol Kim ◽  
Ralf Böhi ◽  
Sebastian Alexander Gommel ◽  
Eui-Sun Kim ◽  
...  
Keyword(s):  
Remote Control ◽  
Parallel Robot ◽  
Haptic Device ◽  
Admittance Control ◽  
Remote Site ◽  
Embedded Microprocessor ◽  
Realistic Force ◽  
User Friendly ◽  
Master Device ◽  
Stiffness Adjustment

This paper presents a compact-sized haptic device based on a cable-driven parallel robot (CDPR) mechanism for teleoperation. CDPRs characteristically have large workspaces and lightweight actuators. An intuitive and user-friendly remote control has not yet been achieved, owing to the unfamiliar multiple-cable configuration of CDPRs. To address this, we constructed a portable compact-sized CDPR with the same configuration as that of a larger fully constrained slave CDPR. The haptic device is controlled by an admittance control for stiffness adjustment and implemented in an embedded microprocessor-based controller for easy installation on an operator’s desk. To validate the performance of the device, we constructed an experimental teleoperation setup by using the prototyped portable CDPR as a master and larger-size CDPR as a slave robot. Experimental results showed that a human operator can successfully control the master device from a remote site and synchronized motion between the master and slave device was performed. Moreover, the user-friendly teleoperation could intuitively address situations at a remote site and provide an operator with realistic force during the motion of the slave CDPR.

scholarly journals LABVIEW SIMULATION FOR SPEED CONTROL OF INDUCTION MOTOR

2013 ◽  
pp. 279-283
Author(s):  
L. VENKATESAN ◽  
A.D. JANARTHANAN ◽  
S. GOWRISHANKAR ◽  
R. ARULMOZHIYAL
Keyword(s):  
Control System ◽  
Remote Control ◽  
Induction Motor ◽  
Monitoring And Control ◽  
Industrial Control ◽  
Drive Control ◽  
Lab View ◽  
Industrial Monitoring ◽  
User Friendly ◽  
And Control

Today's Industrial Control Applications are done by Remote Process only. Lab VIEW Software plays major role in Industrial Monitoring and control systems. In this paper i am going to discuss about Lab View based induction motor drive control system. It is One of the most common applications required in remote control and monitoring. Drive control system has various types of controller, in order to perform some actions such as control the speed, forward and reverse turning direction of the motor. This approach can be done by Lab VIEW programming, and with the rise of the technology, Ethernet module will be used in order to achieve the remote control system. Lab VIEW is a human machine interfaces design software that is user friendly. It can be easily communicate with different hardware.

scholarly journals An Affordable, User-friendly Telerehabilitation System Assembled Using Existing Technologies for Individuals Isolated With COVID-19: Development and Feasibility Study

10.2196/24960 ◽  
2020 ◽  
Vol 7 (2) ◽  
pp. e24960
Author(s):  
Masahiko Mukaino ◽  
Tsuyoshi Tatemoto ◽  
Nobuhiro Kumazawa ◽  
Shigeo Tanabe ◽  
Masaki Katoh ◽  
...  
Keyword(s):  
Remote Control ◽  
Feasibility Study ◽  
Pulse Oximeter ◽  
Physical Therapist ◽  
Exercise Program ◽  
Computer Applications ◽  
User Friendliness ◽  
The Mean ◽  
Strongly Agree ◽  
User Friendly

Background Isolation due to a COVID-19 infection can limit activities and cause physical and mental decline, especially in older adults and people with disabilities. However, due to limited contact, adequate rehabilitation is difficult to provide for quarantined patients. Telerehabilitation technology could be a solution; however, issues specific to COVID-19 should be taken into consideration, such as strict quarantine and respiratory symptoms, as well as accessibility to deal with rapid increases in need due to the pandemic. Objective This study aims to develop and to investigate the feasibility of a telerehabilitation system for patients who are quarantined due to COVID-19 by combining existing commercial devices and computer applications. Methods A multidisciplinary team has identified the requirements for a telerehabilitation system for COVID-19 and developed the system to satisfy those requirements. In the subsequent feasibility study, patients diagnosed with COVID-19 (N=10; mean age 60 years, SD 18 years) were included. A single session of telerehabilitation consisted of stretching exercises, a 15-minute exercise program, and a video exercise program conducted under real-time guidance by a physical therapist through a video call. The system included a tablet computer, a pulse oximeter, videoconferencing software, and remote control software. The feasibility of the system was evaluated using the Telemedicine Satisfaction Questionnaire (TSQ; 14 items) and an additional questionnaire on the telerehabilitation system (5 items). Each item was rated from “1 = strongly disagree” to “5 = strongly agree.” Results The telerehabilitation system was developed by combining existing devices and applications, including a pulse oximeter and remote control mechanism, to achieve user-friendliness, affordability, and safety, which were determined as the system requirements. In the feasibility study, 9 out of 10 patients were able to use the telerehabilitation system without any on-site help. On the TSQ, the mean score for each item was 4.7 (SD 0.7), and in the additional items regarding telerehabilitation, the mean score for each item was 4.3 (SD 1.0). Conclusions These findings support the feasibility of this simple telerehabilitation system in quarantined patients with COVID-19, encouraging further investigation on the merit of the system’s use in clinical practice.

Development and Simulation of an Adaptive Control System for the Teleoperation of Medical Robots

2013 ◽  
pp. 173-185 ◽  
Author(s):  
Vu Trieu Minh
Keyword(s):  
Neural Network ◽  
Control System ◽  
Remote Control ◽  
Low Cost ◽  
Adaptive Controller ◽  
Medical Doctor ◽  
Multiple Model ◽  
Adaptive Control System ◽  
The Stability ◽  
Master Device

This chapter presents the design and calculation procedure for a teleoperation and remote control of a medical robot that can help a doctor to use his hands/fingers to examine patients in remote areas. This teleoperation system is simple and low cost, connected to the global Internet system, and through the interaction with the master device, the medical doctor is able to communicate control signals for the slave device. This controller is robust to the time-variant delays and the environment uncertainties while assuring the stability and the high transparent performance. A novel theoretical framework and algorithms are developed with time forward observer-based adaptive controller and neural network-based multiple model. The system allows the medical doctor to feel the real sense of the remote environments.

New Method of Program Selection in Digital TV Receivers and its Evaluation by Users

2004 ◽  
Vol 8 (5) ◽  
pp. 530-534
Author(s):  
Petr Weissar ◽  
◽  
Jiri Pinker ◽  
Miloslava Hrichova ◽  
Jaroslav Firt ◽  
...  
Keyword(s):  
Control System ◽  
Remote Control ◽  
Digital Tv ◽  
Control Device ◽  
New Method ◽  
Program Selection ◽  
New Tv ◽  
User Friendly ◽  
New Generation ◽  
Positive Results

A novel type of a user-friendly "man-to-TV set" interface has been designed for the new generation of digital TV sets with many hundreds of channels. It consists of an optimised remote-control device and a system of menus appearing on the TV screen. Response of potential users has been tested on the groups of students of different age and education, including seniors. Positive results have shown that the new TV control system can be used in practice.

Lighting controls: a field study of office workers’ reactions

2001 ◽  
Vol 33 (2) ◽  
pp. 77-94 ◽  
Author(s):  
S Escuyer ◽  
M Fontoynont
Keyword(s):  
Control System ◽  
Remote Control ◽  
Control Systems ◽  
Office Workers ◽  
Artificial Light ◽  
Lighting Control ◽  
Light Levels ◽  
Task Lighting ◽  
Illuminance Level ◽  
User Friendly

This paper reports a qualitative study of the acceptability of lighting control systems by 41 French office workers, in three sites with dimmable lighting, respectively with manual, semi-manual, and automatic control. The analysis of the results aimed to determine the characteristics of an ideal lighting control system. It appeared that the occupants found automatic continuous daylight-linked systems discreet, but they needed to be able to override them. The complexity of the remote control has led occupants to under-exploit it. Many occupants chose lower artificial light levels when daylight was bright, in order to benefit more from daylight. Automatic dimming with manual choice of illuminance level, optional task lighting, and user friendly control, may be the key elements of an ideal lighting control system.

scholarly journals Robust Sliding Mode Control for Novel Type of Parallel Robot

2017 ◽  
Vol 2 (4) ◽  
pp. 218-227
Author(s):  
Fouad INEL ◽  
Youcef ZENNIR
Keyword(s):  
Sliding Mode Control ◽  
Dynamic Model ◽  
Graphical User Interface ◽  
Sliding Mode ◽  
Parallel Robot ◽  
Control Approach ◽  
Mode Control ◽  
Simulation Results ◽  
User Friendly ◽  
Future Work

In this paper we present a new control architecture based on the robust sliding mode control applied to control a nonlinear system (parallel cable robot). This approach is widely used to address the uncertainties and disturbances of nonlinear systems and to improve the performance of the robot in terms of tracking a desired path. A dynamic model is presented followed by the description of the control approach used. To do this, numerical simulations were carried out by developing a specific code including a graphical user interface for a user-friendly real time. The simulation results for a dynamic model with sliding mode control are discussed for different trajectories applied to this robot, to confirm the validity of accurate tracking of a desired path before future work description.

scholarly journals Development of interface for kinematic analysis of a delta-type parallel robot

2021 ◽  
pp. 18-27
Author(s):  
Martín Eduardo Rodríguez-Franco ◽  
Ricardo Jara-Ruiz ◽  
Yadira Fabiola López-Álvarez ◽  
Juan Carlos García-Rodríguez
Keyword(s):  
Kinematic Analysis ◽  
Data Entry ◽  
Implementation Process ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
End Effector ◽  
Delta Type ◽  
Kinematic Models ◽  
User Friendly ◽  
Average Position

The development and implementation process of a computer interface for the kinematic analysis of a parallel robot, in delta configuration, and its application to a previously formed prototype are exposed. Being identified the associated equations, and deduced the respective geometric parameters. On the other hand, the synthesis of the direct and inverse kinematic models, with the Matlab software, guarantees the calculation of a specific Cartesian position, in the end effector of the robot used, once certain joint values have been assigned to it, or vice versa. Finally, a user-friendly graphical interface is created, whose functions are: data entry, resolution of the models described, issuance of the corresponding results, representation of the robot used and its physical manipulation. The results obtained in the real location of the end effector with respect to the values deduced by the interface, are competitive for both models analyzed, even though the prototype used operates by means of servomotors. An average position error of 0.083 cm per axis and overall of 0.006 cm is observed during the tests developed.

Cantilever Snap-Fit Performance Analysis for Haptic Evaluation

2011 ◽  
Vol 133 (12) ◽  
Author(s):  
Jingjing Ji ◽  
Kok-Meng Lee ◽  
Shuyou Zhang
Keyword(s):  
Force Feedback ◽  
Approximate Solutions ◽  
Algebraic Model ◽  
Haptic Device ◽  
Real Time Control ◽  
Time Control ◽  
Parametric Effects ◽  
Realistic Force ◽  
Design Options ◽  
Algebraic Solutions

This paper investigates the parametric effects, which include material properties, hook shape, and shear deformation, on the force/deflection relationship governing the assembly/disassembly processes of a snap-fit for developing embedded algebraic solutions to achieve realistic force feedback through a haptic device. For this purpose, an algebraic model, which isolates individual parametric factors that contribute to the cantilever hook deflection, has been derived for examining assumptions commonly made to simplify models for design optimization and real-time control. The algebraic model has been verified by comparing computed results against those simulated using ANSYS FEA workbench and published approximate solutions. Additionally, the model has been validated by comparing the friction coefficients of three different snap-fit designs (with same materials), which closely agree within 5% of their root-mean-square value. Implemented on a commercial PHANTOM haptic device, we demonstrate the effectiveness of the model as embedded algebraic solutions for haptic rendering in design. Nine individuals participated in evaluating a set of design options with different parameter settings; 78% of whom chose the optimal theoretical solution by feeling the feedback force. These findings demonstrate that the design confidence of assembly robustness can be enhanced through a relatively accurate virtual force feedback.

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