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Author : Gilbert M. Y. Lai
Publisher :
ISBN 13 :
Total Pages : 224 pages
Book Rating : 4.:/5 (639 download)
Download or read book Investigation of a Haptic Device for Teleoperation written by Gilbert M. Y. Lai and published by . This book was released on 1999 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : M. Tavakoli
Publisher : World Scientific
ISBN 13 : 9812813152
Total Pages : 179 pages
Book Rating : 4.8/5 (128 download)
Download or read book Haptics for Teleoperated Surgical Robotic Systems written by M. Tavakoli and published by World Scientific. This book was released on 2008 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave systems, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance.
Author : Mahdi Tavakoli
Publisher : World Scientific
ISBN 13 : 9814471275
Total Pages : 179 pages
Book Rating : 4.8/5 (144 download)
Download or read book Haptics For Teleoperated Surgical Robotic Systems written by Mahdi Tavakoli and published by World Scientific. This book was released on 2008-04-14 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance.
Author : Claudio Pacchierotti
Publisher : Springer
ISBN 13 : 331925457X
Total Pages : 157 pages
Book Rating : 4.3/5 (192 download)
Download or read book Cutaneous Haptic Feedback in Robotic Teleoperation written by Claudio Pacchierotti and published by Springer. This book was released on 2015-11-06 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work addresses the challenge of providing effective cutaneous haptic feedback in robotic teleoperation, with the objective of achieving the highest degree of transparency whilst guaranteeing the stability of the considered systems. On the one hand, it evaluates teleoperation systems that provide only cutaneous cues to the operator, thus guaranteeing the highest degree of safety. This cutaneous-only approach shows intermediate performance between no force feedback and full haptic feedback provided by a grounded haptic interface, and it is best suitable for those scenarios where the safety of the system is paramount, e.g., robotic surgery. On the other hand, in order to achieve a higher level of performance, this work also investigates novel robotic teleoperation systems with force reflection able to provide mixed cutaneous and kinesthetic cues to the operator. Cutaneous cues can compensate for the temporary reduction of kinesthetic feedback necessary to satisfy certain stability conditions. This state-of-the-art volume is oriented toward researchers, educators, and students who are interested in force feedback techniques for robotic teleoperation, cutaneous device design, cutaneous rendering methods and perception studies, as well as readers from different disciplines who are interested in applying cutaneous haptic technologies and methods to their field of interest.
Author : Lingfang Dong
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (13 download)
Download or read book Stability Study of Bilateral Tele-operation Systems with Haptic Device written by Lingfang Dong and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Jae-young Lee
Publisher : Springer
ISBN 13 : 3319195573
Total Pages : 134 pages
Book Rating : 4.3/5 (191 download)
Download or read book Haptic Teleoperation Systems written by Jae-young Lee and published by Springer. This book was released on 2015-06-30 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book examines the signal processing perspective in haptic teleoperation systems. This text covers the topics of prediction, estimation, architecture, data compression and error correction that can be applied to haptic teleoperation systems. The authors begin with an overview of haptic teleoperation systems, then look at a Bayesian approach to haptic teleoperation systems. They move onto a discussion of haptic data compression, haptic data digitization and forward error correction.
Author : Benjamin Andrew Black
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (252 download)
Download or read book Controlling a Passive Haptic Master During Bilateral Teleoperation written by Benjamin Andrew Black and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptic devices allow a human to interact physically with a remote or virtual environment by providing tactile feedback to the user. In general haptic devices can be classified in two groups according to the energetic nature of their actuators. Devices using electric motors, pneumatic or hydraulic cylinders or other similar actuators that can add energy to the system are considered "active." Devices using brakes, clutches or other passive actuators are considered "passive" haptic devices. The research presented here focuses on the use of passive haptic devices used during teleoperation, the remote control of a "slave" device by the haptic "master" device. An actuation scheme as well as three different control methods is developed for providing the user with haptic feedback. As a final step, the effectiveness of the controllers is compared to that of a commercially available active haptic device. Twenty subjects provide data that shows the usefulness of the passive device in three typical teleoperation tasks.
Author : Femke Elise van Beek
Publisher : Springer
ISBN 13 : 3319699202
Total Pages : 157 pages
Book Rating : 4.3/5 (196 download)
Download or read book Making Sense of Haptics written by Femke Elise van Beek and published by Springer. This book was released on 2018-01-05 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tele operation systems, in which robots are controlled remotely, are a potential solution to performing tasks in remote, small, and hazardous environments. However, there is a big disadvantage to these systems; as the direct connection between the human and the environment is lost and operators are deprived of their sense of touch. The recreation of touch feedback through haptic devices is a possible solution, however haptic devices are far from perfect and improving their design is usually a slow trial-and-error process. This book describes 7 scientific studies that try to break this slow loop by using a deductive approach. Through investigating fundamental properties of human haptic perception using psychophysical paradigms, general knowledge on haptic perception of force, position, movement and hardness was gained. The resulting information can be applied to many different haptic devices. Consequently haptic systems can be more easily designed in an intuitive, human-centered way.
Author : Tzyh-Jong Tarn
Publisher : Springer
ISBN 13 : 3319189972
Total Pages : 622 pages
Book Rating : 4.3/5 (191 download)
Download or read book Robotic Welding, Intelligence and Automation written by Tzyh-Jong Tarn and published by Springer. This book was released on 2015-07-15 with total page 622 pages. Available in PDF, EPUB and Kindle. Book excerpt: The primary aim of this volume is to provide researchers and engineers from both academic and industry with up-to-date coverage of new results in the field of robotic welding, intelligent systems and automation. The book is mainly based on papers selected from the 2014 International Conference on Robotic Welding, Intelligence and Automation (RWIA’2014), held Oct. 25-27, 2014, at Shanghai, China. The articles show that the intelligentized welding manufacturing (IWM) is becoming an inevitable trend with the intelligentized robotic welding as the key technology. The volume is divided into four logical parts: Intelligent Techniques for Robotic Welding, Sensing of Arc Welding Processing, Modeling and Intelligent Control of Welding Processing, as well as Intelligent Control and its Applications in Engineering.
Author : National Research Council
Publisher : National Academies Press
ISBN 13 : 0309051355
Total Pages : 557 pages
Book Rating : 4.3/5 (9 download)
Download or read book Virtual Reality written by National Research Council and published by National Academies Press. This book was released on 1995-01-13 with total page 557 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.
Author : Zhenjiang Ni
Publisher : John Wiley & Sons
ISBN 13 : 1848216955
Total Pages : 205 pages
Book Rating : 4.8/5 (482 download)
Download or read book Haptic Feedback Teleoperation of Optical Tweezers written by Zhenjiang Ni and published by John Wiley & Sons. This book was released on 2014-11-10 with total page 205 pages. Available in PDF, EPUB and Kindle. Book excerpt: The authors of this book provide the first review of haptic optical tweezers, a new technique which brings together force feedback teleoperation and optical tweezers. This technique allows users to explore the microworld by sensing and exerting piconewton-scale forces with trapped microspheres. The design of optical tweezers for high-quality haptic feedback is challenging, given the requirements for very high sensitivity and dynamic stability. The concept, design process and specification of optical tweezers reviewed throughout this book focus on those intended for haptic teleoperation. The authors provide two new specific designs as well as the current state of the art. Furthermore, the remaining important issues are identified for further developments. Haptic optical tweezers will soon become an invaluable tool for force feedback micromanipulation of biological samples and nano- and micro-assembly parts.
Author : M. Tavakoli
Publisher : World Scientific
ISBN 13 : 9812813160
Total Pages : 179 pages
Book Rating : 4.8/5 (128 download)
Download or read book Haptics for Teleoperated Surgical Robotic Systems written by M. Tavakoli and published by World Scientific. This book was released on 2008 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance. Sample Chapter(s). Introduction (1,826 KB). Contents: Introduction; Sensorized Surgical Effector (Slave); Haptic User Interface (Master); Unilateral Teleoperation Control; Bilateral Teleoperation Control; Substitution for Haptic Feedback: Bilateral Teleoperation Control Under Time Delay. Readership: Researchers in robotics, teleoperation, haptics, virtual reality, sensor technology, human machine interaction, and minimally invasive surgery and therapy.
Author : Rebecca M. Pierce
Publisher :
ISBN 13 :
Total Pages : 358 pages
Book Rating : 4.:/5 (945 download)
Download or read book Increasing Transparency and Presence in Teleoperation Through Human-centered Design written by Rebecca M. Pierce and published by . This book was released on 2015 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: Second, this dissertation seeks to improve the feedback (afferent) teleoperation control channel, which carries information from the robot to the human operator. We aim to improve a teleoperation system a teleoperation system by providing the operator with multiple novel modalities of haptic (touch-based) feedback. We describe the design and control of a wearable haptic device that provides kinesthetic grip-force feedback through a geared DC motor and tactile fingertip-contact-and-pressure and high-frequency acceleration feedback through a pair of voice-coil actuators mounted at the tips of the thumb and index finger. Each included haptic feedback modality is known to be fundamental to direct task completion and can be implemented without great cost or complexity. A user study involving thirty subjects investigated how these three modalities of haptic feedback affect an operator's ability to control a real remote robot in a teleoperated pick-and-place task. This study's results strongly support the utility of grip-force and high-frequency acceleration feedback in teleoperation systems and show more mixed effects of fingertip-contact-and-pressure feedback.
Author : Hiroyuki Kajimoto
Publisher : Springer
ISBN 13 : 9811331944
Total Pages : 341 pages
Book Rating : 4.8/5 (113 download)
Download or read book Haptic Interaction written by Hiroyuki Kajimoto and published by Springer. This book was released on 2019-05-13 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the third international conference AsiaHaptics 2018, held in Songdo, Korea. It presents the state-of-the-art of the diverse haptics (touch)-related research, including perception and illusion, development of haptics devices, and applications to a wide variety of fields such as education, medicine, telecommunication, navigation and entertainment. This book is a valuable resource not only for active haptics researchers, but also for general readers wishing to understand the status quo in this interdisciplinary area of science and technology.
Author : Manuel A. Armada
Publisher : Springer Science & Business Media
ISBN 13 : 3319034138
Total Pages : 722 pages
Book Rating : 4.3/5 (19 download)
Download or read book ROBOT2013: First Iberian Robotics Conference written by Manuel A. Armada and published by Springer Science & Business Media. This book was released on 2013-11-12 with total page 722 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organized by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GTRob, "Sociedade Portuguesa de Robotica" (SPR), "Asociación Española de Promoción de la Investigación en Agentes Físicos" (RedAF), and partially supported by "Comunidad de Madrid under RoboCity2030 Programme".
Author : Ming C. Lin
Publisher : CRC Press
ISBN 13 : 1439865140
Total Pages : 623 pages
Book Rating : 4.4/5 (398 download)
Download or read book Haptic Rendering written by Ming C. Lin and published by CRC Press. This book was released on 2008-07-25 with total page 623 pages. Available in PDF, EPUB and Kindle. Book excerpt: For a long time, human beings have dreamed of a virtual world where it is possible to interact with synthetic entities as if they were real. It has been shown that the ability to touch virtual objects increases the sense of presence in virtual environments. This book provides an authoritative overview of state-of-theart haptic rendering algorithms
Author : Mehrdad Hosseini Zadeh
Publisher : BoD – Books on Demand
ISBN 13 : 9533070935
Total Pages : 734 pages
Book Rating : 4.5/5 (33 download)
Download or read book Advances in Haptics written by Mehrdad Hosseini Zadeh and published by BoD – Books on Demand. This book was released on 2010-04-01 with total page 734 pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptic interfaces are divided into two main categories: force feedback and tactile. Force feedback interfaces are used to explore and modify remote/virtual objects in three physical dimensions in applications including computer-aided design, computer-assisted surgery, and computer-aided assembly. Tactile interfaces deal with surface properties such as roughness, smoothness, and temperature. Haptic research is intrinsically multi-disciplinary, incorporating computer science/engineering, control, robotics, psychophysics, and human motor control. By extending the scope of research in haptics, advances can be achieved in existing applications such as computer-aided design (CAD), tele-surgery, rehabilitation, scientific visualization, robot-assisted surgery, authentication, and graphical user interfaces (GUI), to name a few. Advances in Haptics presents a number of recent contributions to the field of haptics. Authors from around the world present the results of their research on various issues in the field of haptics.
