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.

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 Role of Haptic Feedback and Gamification in Virtual Museum Systems

2021 ◽  
Vol 14 (3) ◽  
pp. 1-14
Author(s):  
Silvia Ceccacci ◽  
Andrea Generosi ◽  
Alma Leopardi ◽  
Maura Mengoni ◽  
And Ferruccio Mandorli
Keyword(s):  
User Experience ◽  
Haptic Feedback ◽  
User Studies ◽  
Haptic Device ◽  
Haptic Interface ◽  
Virtual Museum ◽  
Omega 6 ◽  
3D Printed ◽  
Perceived Usability

This article reports the results of a research aimed to evaluate the ability of a haptic interface to improve the user experience (UX) with virtual museum systems. In particular, two user studies have been carried out to (1) compare the experience aroused during the manipulation of a 3D printed replica of an artifact with a pen-like stylus with that aroused during the interaction (visual and tactile) with a 3D rendering application using a haptic interface and PC monitor, and (2) compare the users’ perceived usability and UX among a traditional mouse-based desktop interface, haptic interface, and haptic gamified interface based on the SUS scale and the AttrakDiff2 questionnaire. A total of 65 people were involved. The considered haptic application is based on the haptic device Omega 6 produced by Force Dimension, and it is a permanent attraction of the Museo Archeologico Nazionale delle Marche. Results suggest that the proposed haptic interface is suitable for people who commonly use mouse-based computer interaction, but without previous experience with haptic systems, and provide some insights useful to better understand the role of haptic feedback and gamification in enhancing UX with virtual museums, and to guide the development of other similar applications in the future.

scholarly journals Kinematic Analysis of 6 DOF Articulated Robotic Arm

2021 ◽  
pp. 1-5
Author(s):  
Aravinthkumar T ◽  
Suresh M ◽  
Vinod B
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Material Handling ◽  
Manufacturing Sector ◽  
Industrial Robot ◽  
Research Work ◽  
Industrial Robots ◽  
Robot Arm ◽  
Articulated Robot ◽  
Increasing Demand

The abstract must be a precise and reflection of what is in your article. Manufacturing sector is moving towards industry 4.0 and demands a high end of automation in the process. In which industrial robots play a fundamental role for automating the processes such as pick and place, material handling, palletizing, welding, painting, assembly lines and many more endless applications. Increasing demand and necessity made more research on industrial robots, machine learning and artificial intelligence. Better kinematic analysis of robots leads to reliable, high precise and fast responsive system. But there is an absence of India based robot manufacturers to fulfil the rising demand. Again, this situation leads to a market for foreign robot makers instead of local players. Lack of knowledge in robotics, unavailability of robot parts and resources are pain points for this cause. As researchers in this domain and have a goal to resolve this issue by providing open source, easily accessible industrial robot technical resources to everyone. This research work focuses the design and development of 6 Degrees of Freedom articulated robot arm with kinematic analysis particularly forward and inverse kinematics.

scholarly journals Gesture-Based Control of a Robot Arm with Neuromorphic Haptic Feedback

2018 ◽  
Author(s):  
Francesca Sorgini ◽  
Giuseppe Airò Farulla ◽  
Nikola Lukic ◽  
Ivan Danilov ◽  
Bozica Bojovic ◽  
...  
Keyword(s):  
Haptic Feedback ◽  
Random Sequence ◽  
Skin Surface ◽  
Tactile Feedback ◽  
Haptic Interface ◽  
Robotic Arm ◽  
Hand Tracking ◽  
Robot Arm ◽  
Gestural Control ◽  
And Control

Research on bidirectional human-machine interfaces will enable the smooth interaction with robotic platforms in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. We complement the gesture-based control by means of a tactile-feedback strategy grounding on a spiking artificial neuron model. Force and motion from the robot are converted in neuromorphic haptic stimuli delivered on the user’s hand through a vibro-tactile glove. Untrained personnel participated in an experimental task benchmarking a pick-and-place operation. The robot end-effector was used to sequentially press six buttons, illuminated according to a random sequence, and comparing the tasks executed without and with tactile feedback. The results demonstrated the reliability of the hand tracking strategy developed for controlling the robotic arm, and the effectiveness of a neuronal spiking model for encoding hand displacement and exerted forces in order to promote a fluid embodiment of the haptic interface and control strategy. The main contribution of this paper is in presenting a robotic arm under gesture-based remote control with multisensory telepresence, demonstrating for the first time that a spiking haptic interface can be used to effectively deliver on the skin surface a sequence of stimuli emulating the neural code of the mechanoreceptors beneath.

Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm

2016 ◽  
Vol 136 (4) ◽  
pp. 254-262 ◽  
Author(s):  
Takahiro Yamazaki ◽  
Sho Sakaino ◽  
Toshiaki Tsuji
Keyword(s):  
Kinetic Modeling ◽  
Robot Arm ◽  
Wearable Robot ◽  
Human Arm

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.

scholarly journals Modeling in ADAMS of a 6R industrial robot

2018 ◽  
Vol 184 ◽  
pp. 02006
Author(s):  
Mariana Ratiu ◽  
Alexandru Rus ◽  
Monica Loredana Balas
Keyword(s):  
Dynamic Analysis ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Future Research ◽  
Robot Motion ◽  
Cad Model ◽  
3D Cad ◽  
Revolute Joints ◽  
Real Model ◽  
Articulated Robot

In this paper, we present the first steps in the process of the modeling in ADAMS MBS of MSC software of the mechanical system of an articulated robot, with six revolute joints. The geometric 3D CAD model of the robot, identical to the real model, in the PARASOLID format, is imported into ADAMS/View and then are presented the necessary steps for building the kinematic model of the robot. We conducted this work, in order to help us in our future research, which will consist of kinematic and dynamic analysis and optimization of the robot motion.

Compensations of the Discontinuous Nonlinearities in the Independent Joints Control of an Articulated Robot

2013 ◽  
Vol 430 ◽  
pp. 135-142
Author(s):  
Danut Receanu
Keyword(s):  
Industrial Robot ◽  
Linear Control ◽  
Torsional Vibrations ◽  
Low Speed ◽  
Discontinuous Nonlinearities ◽  
Articulated Robot

The paper presents the nonlinear torsional vibrations control of the joints in an articulated industrial robot, in Simulink /MATLAB. In this case, it is considered the classical linear control combined with compensations of the natural discontinuous nonlinearities in a robot with low speed.

ROBOTIC HANDWRITING

2005 ◽  
Vol 02 (01) ◽  
pp. 105-124 ◽  
Author(s):  
VELJKO POTKONJAK
Keyword(s):  
Mathematical Models ◽  
Muscle Fatigue ◽  
Simulation Study ◽  
Robot Control ◽  
Robot Arm ◽  
Redundancy Resolution ◽  
Kinematic Redundancy ◽  
New Concepts ◽  
Human Arm ◽  
Arm Motion

Handwriting has always been considered an important human task, and accordingly it has attracted the attention of researchers working in biomechanics, physiology, and related fields. There exist a number of studies on this area. This paper considers the human–machine analogy and relates robots with handwriting. The work is two-fold: it improves the knowledge in biomechanics of handwriting, and introduces some new concepts in robot control. The idea is to find the biomechanical principles humans apply when resolving kinematic redundancy, express the principles by means of appropriate mathematical models, and then implement them in robots. This is a step forward in the generation of human-like motion of robots. Two approaches to redundancy resolution are described: (i) "Distributed Positioning" (DP) which is based on a model to represent arm motion in the absence of fatigue, and (ii) the "Robot Fatigue" approach, where robot movements similar to the movements of a human arm under muscle fatigue are generated. Both approaches are applied to a redundant anthropomorphic robot arm performing handwriting. The simulation study includes the issues of legibility and inclination of handwriting. The results demonstrate the suitability and effectiveness of both approaches.

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