Stability Of Haptic Virtual Environments And Teleoperation Systems

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Haptics for Virtual Reality and Teleoperation

Author : Matjaž Mihelj
Publisher : Springer Science & Business Media
ISBN 13 : 9400757182
Total Pages : 217 pages
Book Rating : 4.4/5 (7 download)

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Book Synopsis Haptics for Virtual Reality and Teleoperation by : Matjaž Mihelj

Download or read book Haptics for Virtual Reality and Teleoperation written by Matjaž Mihelj and published by Springer Science & Business Media. This book was released on 2012-12-14 with total page 217 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation. The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic interfaces that will comply with human capabilities at least basic understanding of human sensors-motor system is required. An overview of this topic is provided in the chapter related to human haptics. The book does not try to introduce the state-of-the-art haptic interface solutions because these tend to change quickly. Only a careful selection of different kinematic configurations is shown to introduce the reader into this field. Mathematical models of virtual environment, collision detection and force rendering topics are strongly interrelated and are described in the next two chapters. The interaction with the virtual environment is simulated with a haptic interface. Impedance and admittance based approaches to haptic robot control are presented. Stability issues of haptic interaction are analyzed in details and solutions are proposed for guaranteeing stable and safe operation. Finally, haptic interaction is extended to teleoperation systems. Virtual fixtures which improve the teleoperation and human-robot cooperation in complex environments are covered next and the last chapter presents nanomanipulation as one specific example of teleoperation.

Stability of Haptic Virtual Environments and Teleoperation Systems

Author : Noushin Miandashti
Publisher :
ISBN 13 :
Total Pages : 96 pages
Book Rating : 4.:/5 (92 download)

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Book Synopsis Stability of Haptic Virtual Environments and Teleoperation Systems by : Noushin Miandashti

Download or read book Stability of Haptic Virtual Environments and Teleoperation Systems written by Noushin Miandashti and published by . This book was released on 2014 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: Three factors can jeopardize the stability of haptic virtual environments (HVE)s and teleoperation systems: (a) delayed communication channel, (b) controller discretization and (c) active operator intervention. This thesis studies the stability of these systems and investigates the simultaneous effect of all three de-stabilizing factors via a proposed unified framework. The conditions that ensure the stability of these systems are derived and reported. This thesis also addresses the stability problem in the context of teleoperation systems in the four-channel architecture in a passivity-based framework. While it is assumed that the teleoperation system operates in continuous-time and the terminations are passive, the communication delay is compensated for and the stability conditions are derived.

A Virtual Reality-based Training Environment Using Haptic Interfaces

Author : Iman Shafieloo
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (13 download)

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Book Synopsis A Virtual Reality-based Training Environment Using Haptic Interfaces by : Iman Shafieloo

Download or read book A Virtual Reality-based Training Environment Using Haptic Interfaces written by Iman Shafieloo and published by . This book was released on 2005 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Haptics For Teleoperated Surgical Robotic Systems

Author : Mahdi Tavakoli
Publisher : World Scientific
ISBN 13 : 9814471275
Total Pages : 179 pages
Book Rating : 4.8/5 (144 download)

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Book Synopsis Haptics For Teleoperated Surgical Robotic Systems by : Mahdi Tavakoli

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.

Control Design for Haptic Systems

Author : Suyong Kim
Publisher : Springer Nature
ISBN 13 : 9819985986
Total Pages : 149 pages
Book Rating : 4.8/5 (199 download)

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Book Synopsis Control Design for Haptic Systems by : Suyong Kim

Download or read book Control Design for Haptic Systems written by Suyong Kim and published by Springer Nature. This book was released on with total page 149 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Haptics Technologies

Author : Abdulmotaleb El Saddik
Publisher : Springer
ISBN 13 : 9783642226571
Total Pages : 220 pages
Book Rating : 4.2/5 (265 download)

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Book Synopsis Haptics Technologies by : Abdulmotaleb El Saddik

Download or read book Haptics Technologies written by Abdulmotaleb El Saddik and published by Springer. This book was released on 2011-09-10 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: The term “haptics” refers to the science of sensing and manipulation through touch. Multiple disciplines such as biomechanics, psychophysics, robotics, neuroscience, and software engineering converge to support haptics, and generally, haptic research is done by three communities: the robotics community, the human computer interface community, and the virtual reality community. This book is different from any other book that has looked at haptics. The authors treat haptics as a new medium rather than just a domain within one of the above areas. They describe human haptic perception and interfaces and present fundamentals in haptic rendering and modeling in virtual environments. Diverse software architectures for standalone and networked haptic systems are explained, and the authors demonstrate the vast application spectrum of this emerging technology along with its accompanying trends. The primary objective is to provide a comprehensive overview and a practical understanding of haptic technologies. An appreciation of the close relationship between the wide range of disciplines that constitute a haptic system is a key principle towards being able to build successful collaborative haptic environments. Structured as a reference to allow for fast accommodation of the issues concerned, this book is intended for researchers interested in studying touch and force feedback for use in technological multimedia systems in computer science, electrical engineering, or other related disciplines. With its novel approach, it paves the way for exploring research trends and challenges in such fields as interpersonal communication, games, or military applications.

Workspace Scaling and Haptic Feedback for Industrial Telepresence and Teleaction Systems with Heavy-duty Teleoperators

Author : Marwan Radi
Publisher : Herbert Utz Verlag
ISBN 13 : 3831641951
Total Pages : 173 pages
Book Rating : 4.8/5 (316 download)

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Book Synopsis Workspace Scaling and Haptic Feedback for Industrial Telepresence and Teleaction Systems with Heavy-duty Teleoperators by : Marwan Radi

Download or read book Workspace Scaling and Haptic Feedback for Industrial Telepresence and Teleaction Systems with Heavy-duty Teleoperators written by Marwan Radi and published by Herbert Utz Verlag. This book was released on 2012 with total page 173 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Touch in Virtual Environments

Author : Margaret L. McLaughlin
Publisher : Prentice Hall PTR
ISBN 13 :
Total Pages : 314 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Touch in Virtual Environments by : Margaret L. McLaughlin

Download or read book Touch in Virtual Environments written by Margaret L. McLaughlin and published by Prentice Hall PTR. This book was released on 2002 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptics: The state-of-the-art in building touch-based interfaces for virtual environments. -- Key research issues: model acquisition, contact detection, force feedback, compression, capture, and collaboration. -- Understanding the role of human factors in haptic interfaces. -- Applications: medical training, telesurgery, biological and scientific interfaces, military applications, sign language, museum display, and more. Haptics -- "touch-based" interface design -- is the exciting new frontier in research on virtual and immersive environments. In Touch in Virtual Environments, the field's leading researchers bring together their most advanced work and applications. They identify the key challenges facing haptic interface developers, present today's best solutions, and outline a clear research agenda for the future. This book draws upon work first presented at the breakthrough haptics conference held recently at USC's Integrated Media Systems Center. The editors and contributors begins by reviewing key haptics applications and the challenges of effective haptic rendering, presenting new insights into model acquisition, contact detection, force feedback, compression, capture, collaboration, and other key issues. Next, they focus on the complex human factors associated with successful haptic interfaces, examining questions such as: How can we make haptic displays more usable for blind and visually impaired users? What are the differences between perceiving texture with the bare skin and with a probe? In the book's final section, several of today's leading haptic applications are introduced, including telesurgery and surgical simulation; scientific visualization.

Haptic Teleoperation Systems

Author : Jae-young Lee
Publisher : Springer
ISBN 13 : 9783319195568
Total Pages : 0 pages
Book Rating : 4.1/5 (955 download)

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Book Synopsis Haptic Teleoperation Systems by : Jae-young Lee

Download or read book Haptic Teleoperation Systems written by Jae-young Lee and published by Springer. This book was released on 2015-07-10 with total page 0 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.

Stability of Haptic Systems with Non-passive Virtual Environments

Author : Brian E. Miller
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (467 download)

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Book Synopsis Stability of Haptic Systems with Non-passive Virtual Environments by : Brian E. Miller

Download or read book Stability of Haptic Systems with Non-passive Virtual Environments written by Brian E. Miller and published by . This book was released on 2000 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Cutaneous Haptic Feedback in Robotic Teleoperation

Author : Claudio Pacchierotti
Publisher : Springer
ISBN 13 : 331925457X
Total Pages : 157 pages
Book Rating : 4.3/5 (192 download)

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Book Synopsis Cutaneous Haptic Feedback in Robotic Teleoperation by : Claudio Pacchierotti

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.

10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems

Author :
Publisher : IEEE
ISBN 13 : 9780769514895
Total Pages : 358 pages
Book Rating : 4.5/5 (148 download)

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Book Synopsis 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems by :

Download or read book 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems written by and published by IEEE. This book was released on 2002 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume originates from the 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, and examines computer graphics. It is aimed at researchers, professors, practitioners and students.

Advances in Haptics and Virtual Reality

Author : Jianbo Su
Publisher : Springer Nature
ISBN 13 : 3031565215
Total Pages : 204 pages
Book Rating : 4.0/5 (315 download)

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Book Synopsis Advances in Haptics and Virtual Reality by : Jianbo Su

Download or read book Advances in Haptics and Virtual Reality written by Jianbo Su and published by Springer Nature. This book was released on with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Network-based Haptic Systems with Time-Delays

Author : Bogdan Cristian Liacu
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (94 download)

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Book Synopsis Network-based Haptic Systems with Time-Delays by : Bogdan Cristian Liacu

Download or read book Network-based Haptic Systems with Time-Delays written by Bogdan Cristian Liacu and published by . This book was released on 2012 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decades, virtual environments have become very popular and are largely used in many domains as, for example, prototyping, trainings for different devices, assistance in completing difficult tasks, etc. The interaction with the virtual reality, as well as the feedback force, is assured by haptic interfaces. Generally, such systems are affected by communication and processing time-delays, resulting in a deterioration of performances. In this thesis, a complete study of the existing methods, as well as theoretical tools and new solutions, are proposed for the haptic framework. First, a comparative study, based on the experimental results obtained on a 1-dof haptic system, highlights the advantages and drawbacks of the most common control algorithms ported from teleoperation to haptics. Next, the theoretical tools needed in analyzing the stability of the delayed systems in different situations, as well as the physical limitations of the experimental platforms considered, are examined. Besides the standard case of constant time-delays, uncertainties are also considered and modeled by different types of distributions (uniform, normal and gamma distribution with gap). In the sequel, for overcoming the drawback of time-delays, two new approaches are proposed. First, the use of Smith predictor-based control is addressed and a specific solution for haptic systems is developed and discussed. The main idea is to introduce into the Smith predictor the environmental forces by using the additional information from the virtual reality regarding the distances between the controlled virtual object and other objects in the scene. To overcome the loss of performances induced by using a fixed gain in the controllers for all situations (free or restricted motions), the second approach proposes a gain-scheduling Proportional Derivative control strategy depending on the distance until a possible collision. Both approaches are experimentally validated on a 3-dof haptic platform, under different scenarios elaborated gradually from simple situations - free and restricted motion, contacts with moving objects, to more complex situations - virtual box with fixed or moving sides.

Stable Haptic Interaction with Virtual Environments

Author : Richard J. Adams
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (438 download)

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Book Synopsis Stable Haptic Interaction with Virtual Environments by : Richard J. Adams

Download or read book Stable Haptic Interaction with Virtual Environments written by Richard J. Adams and published by . This book was released on 1999 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: A haptic interface is a kinesthetic link between a human operator and a virtual environment. It allows the user of a virtual reality system to feel objects in a virtual world. This dissertation addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual environment, to include both impedance and admittance models of haptic interaction. A benchmark example is used to expose an important duality between these two cases. Linear circuit theory is employed to develop necessary and sufficient conditions for the stability of a haptic simulation, assuming the human operator and virtual environment are passive. This approach leads to design procedures for virtual coupling networks which give maximum performance while guaranteeing stability.

Stability of Haptic Display in Time-delayed Networked Virtual Environments

Author : Yang Hong
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (11 download)

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Book Synopsis Stability of Haptic Display in Time-delayed Networked Virtual Environments by : Yang Hong

Download or read book Stability of Haptic Display in Time-delayed Networked Virtual Environments written by Yang Hong and published by . This book was released on 2005 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the development of Distributed Virtual Environment, haptic simulation is becoming a popular research field. However, time delay issue is always an obstacle in haptic simulation because this lag over the network-based haptic display violates the stability and performance of haptic display. In the research of teleoperations, some delay prediction methods have been introduced already; however, the performance requirements have been decreased to obtain the stability reducing the total loop gain. The design of virtual coupling, an artificial link between the haptic display and virtual environment, has been introduced into haptic interaction. However, in the traditional design, virtual coupling is always coupled with the virtual environment; as a result, stability condition for the haptic simulation becomes too tight because zero order hold has the phase lag over frequency. To guarantee the stability in the presence of unpredictable time delays new control design strategies are required. In this thesis, two-port network theory is introduced to design the virtual coupling to guarantee stability of haptic display in time-delayed Distributed Virtual Environments. By decoupling the hatpic display control problem from the design of virtual environments, the use of a virtual coupling network frees the developer of haptic-enabled virtual reality models from the issues of mechanical stability. Passivity criteria in two-port networks are introduced to guarantee stability of haptic interface with a unit time delay. Furthermore, two kinds of virtual environments models--"spring" and "spring-damping" have been simulated. Steady state error and transient response for the interaction between haptic displays and above virtual environments models are investigated. This technique overcomes the influence of time delay to violate the stability of the system and reduces the human risk involved.

Haptics: Neuroscience, Devices, Modeling, and Applications

Author : Malika Auvray
Publisher : Springer
ISBN 13 : 3662441969
Total Pages : 518 pages
Book Rating : 4.6/5 (624 download)

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Book Synopsis Haptics: Neuroscience, Devices, Modeling, and Applications by : Malika Auvray

Download or read book Haptics: Neuroscience, Devices, Modeling, and Applications written by Malika Auvray and published by Springer. This book was released on 2014-10-14 with total page 518 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set LNCS 8618 and 8619 constitutes the refereed proceedings of the 9th International Conference EuroHaptics 2014, held in Versailles, France, in June 2014. The 118 papers (36 oral presentations and 82 poster presentations) presented were carefully reviewed and selected from 183 submissions. Furthermore, 27 demos were exhibited, each of them resulting in a short paper included in the volumes. These proceedings reflect the multidisciplinary nature of EuroHaptics and cover topics such as human-computer interaction, human-robot interactions, neuroscience, perception and psychophysics, biomechanics and motor control, modelling and simulation; and a broad range of applications in medicine, rehabilitation, art, and design.