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Author : Victor H. Mendez
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (828 download)
Download or read book Stability of Multilateral Haptic Teleoperation Systems written by Victor H. Mendez and published by . This book was released on 2013 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 : Fernando Bello
Publisher : Springer
ISBN 13 : 3319423215
Total Pages : 546 pages
Book Rating : 4.3/5 (194 download)
Download or read book Haptics: Perception, Devices, Control, and Applications written by Fernando Bello and published by Springer. This book was released on 2016-07-01 with total page 546 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set LNCS 9774 and 9775 constitutes the refereed proceedings of the 10th International Conference EuroHaptics 2016, held in London, UK, in July 2016. The 100 papers (36 oral presentations and 64 poster presentations) presented were carefully reviewed and selected from 162 submissions. These proceedings reflect the multidisciplinary nature of EuroHaptics and cover topics such as perception of hardness and softness; haptic devices; haptics and motor control; tactile cues; control of haptic interfaces; thermal perception; robotics and sensing; applications.
Author : Behzad Khademian
Publisher :
ISBN 13 :
Total Pages : 396 pages
Book Rating : 4.:/5 (698 download)
Download or read book Control of Dual-user Teleoperation Systems Design, Stability Analysis, and Performance Evaluation written by Behzad Khademian and published by . This book was released on 2010 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt: Teleoperation systems broaden human ability to perform a task in a real or virtual, local or remote environment. An emerging application of such systems is in dual-user teleoperation or haptic simulation systems in which two users collaboratively perform a task in a shared real or virtual environment. Examples of this application are in human haptic guidance for rehabilitation therapy and medical surgical training. In such collaborative systems, users interact with each other and a user's decision is affected by the other user's decisions. This interaction between users bring out the need for new control architecture design methods. In addition, the controller should maintain system stability and achieve desired performance under various operational conditions, including contact with a wide range of environments and being interfaced with two users displaying highly variable arm dynamics. To this purpose, a class of shared control architectures for human haptic guidance has been developed. The architectures feature a dominance factor that adjusts the supremacy of the trainer over the trainee in the execution of a task. To tackle the stability issue, a novel robust stability analysis framework for unconditional stability analysis of multi-user teleoperation/haptic systems has been proposed. In terms of performance these systems have been evaluated kinesthetically, referring to the dynamics felt by the users, or task-based, referring to the quantities that measure task efficiency and effort. For kinesthetic performance evaluation of dual-user systems as opposed to the single-user systems, there are two users interacting with the environment and with each other. In these systems it may be desirable for a user to not only feel the environment but also to sense the other user dynamics. Hence, some of the previously defined performance measures for single-user systems have been extended for dual-user systems. Furthermore, two novel performance measures for multilateral dual-user systems have been introduced. Finally, to assess the task-based performance of the proposed architectures, a user study has been conducted for trajectory following tasks on a developed dual-user haptic simulation testbed under various environmental conditions, such as different environment geometries, environment view points and environment dynamics.
Author : Ribin Balachandran
Publisher : Springer Nature
ISBN 13 : 3031479343
Total Pages : 198 pages
Book Rating : 4.0/5 (314 download)
Download or read book A Stable and Transparent Framework for Adaptive Shared Control of Robots written by Ribin Balachandran and published by Springer Nature. This book was released on 2024-01-29 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or shared control. This monograph focuses on a special form of shared control, namely mixed-initiative, where the final command to the robot is a weighted sum of the commands from the operator and the autonomous controller. The weights (fixed or adaptive), called authority allocation (AA) factors, decide who has more control authority over the robot. Several research groups use different methods to adapt the AA factors online and the benefits of adaptive mixed-initiative shared control have been well established in terms of task completion success and operator usability. However, stability of the overall shared control framework, with communication time-delays between the operator and the robot, is a field that has not been examined extensively. This monograph presents methods to improve performance and stability in shared control so that the possibilities of its applications can be widened. Firstly, methods to improve the haptic feedback performance of teleoperation are developed. Secondly, methods to stabilize adaptive shared control systems, while still ensuring high teleoperation performance, are proposed. The methods are validated on multiple robotic systems and they were applied in several projects, both in space and terrestrial domains. With the aforementioned contributions, this monograph provides an overarching framework to improve synergy between humans and robots. The flexibility of the framework allows integration of existent teleoperation and shared control approaches, which further promotes synergy within the robotics community.
Author : Noushin Miandashti
Publisher :
ISBN 13 :
Total Pages : 96 pages
Book Rating : 4.:/5 (92 download)
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.
Author : Changchun Hua
Publisher : Springer
ISBN 13 : 981137936X
Total Pages : 247 pages
Book Rating : 4.8/5 (113 download)
Download or read book Analysis and Design for Networked Teleoperation System written by Changchun Hua and published by Springer. This book was released on 2019-05-24 with total page 247 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents cutting-edge results on stability analysis and control scheme designs for networked teleoperation systems. It highlights new research on commonly encountered nonlinear teleoperation systems, including the stability analysis of teleoperation systems with asymmetric time-varying delays, stability analysis of teleoperation systems with interval time delays, and so on. Moreover, the book presents several high-performance control scheme designs for teleoperation systems when the velocity is available and unavailable, and for systems with nonlinear input. The results presented here mark a substantial contribution to nonlinear teleoperation system theory, robotic control theory and networked control system theory. As such, the book will be of interest to university researchers, R&D engineers and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of networked teleoperation systems, robotic systems and nonlinear control systems.
Author : Zhijun Li
Publisher : Springer
ISBN 13 : 3662468980
Total Pages : 289 pages
Book Rating : 4.6/5 (624 download)
Download or read book Intelligent Networked Teleoperation Control written by Zhijun Li and published by Springer. This book was released on 2015-05-15 with total page 289 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics.
Author : Amir Haddadi
Publisher :
ISBN 13 :
Total Pages : 550 pages
Book Rating : 4.:/5 (81 download)
Download or read book Stability, Performance, and Implementation Issues in Bilateral Teleoperation Control and Haptic Simulation Systems written by Amir Haddadi and published by . This book was released on 2011 with total page 550 pages. Available in PDF, EPUB and Kindle. Book excerpt: Master-Slave teleoperation systems are designed to extend a human's manipulation capability to remote tasks. Recent applications of these systems are in robotic therapy, telesurgery, and medical simulators. In practice, due to the uncertainties in the operator and environment dynamics, and time delay, stability and performance are compromised. Stability-based and performance-based controllers are introduced for these systems. A major class of the former controllers are based on the passivity theory and suffer from the assumed unbounded range of dynamics which is rather unrealistic. The latter class of controllers are mostly adaptive methods that are based on performance optimization. The theme of this thesis is on the development of new stability analysis methods, control strategies, and implementation techniques for enhanced trade-off between stability and performance. I have developed a less conservative passivity-based robust stability method and introduced, for the first time, the notion of Bounded Impedance Absolute Stability. The method provides mathematical and visual aids to incorporate bounds of the passive environment impedance for less conservative guaranteed stability conditions, promising a better compromise between stability and performance. I have extended the new method to include the dynamic range of the human operator for increased stability margins. I have also used the new method to develop a bilateral controller robust to time delays. Furthermore, I have investigated the effect of sampling position versus velocity for various sampling models to obtain less conservative coupled stability conditions for haptic simulation systems. Estimates of the environment dynamics are required to include their variations. Therefore, I have proposed two new real-time parameter estimation methods for linear and nonlinear contacts and experimentally evaluated and compared them with the available techniques. Finally, I have introduced needle insertion as a task in telerobotic systems to combine the expertise of the surgeon with robotic control. Here, the very first few steps needed to effectively control the targeting needles have been taken. I have developed a mechanics-based dynamic model for bevel-tip flexible needles inserted into soft tissues. Finite element models are used to estimate soft tissue deformation, while the mechanics-based model is used to predict needle deflections due to bevel-tip asymmetry.
Author : Usman Ahmad
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (134 download)
Download or read book NOVEL MULTILATERAL TELEOPERATION AND COOPERATIVE CONTROL APPROACHES FOR MULTIPLE MANIPULATORS. written by Usman Ahmad and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Teleoperation of robotic manipulators has been one of the popular research areas in the robotics research community for last couple of decades. A variety of control methods have been proposed for bilateral and multilateral teleoperation of robotic manipulators. Although a lot of research has been carried out on teleoperation control, some of the aspects of these systems are still unexplored. For example, most of the control schemes for teleoperation systems focus only on the compensation of time delays while there exist other performance metrics for these systems such as better transparency, optimal force distribution and authority adjustment in cooperative applications. Additionally, some of the control schemes lack to provide the guaranteed stability of the teleoperation system. This research works aims to propose novel teleoperation and cooperative control schemes for fixed-base and mobile manipulators. This research work can be divided into two main parts. The first part of this thesis is focused on the development of a Time Domain Passivity Control (TDPC) scheme which ensures the stability of the multilateral teleoperation system under constant and varying time delays. The proposed control framework not only avoids the zero division problem of the control laws of traditional TDPC but also provides a novel communication channel architecture to assign weights to master and slave robots to cooperatively execute the task. Simulation and experimental results validate the efficacy of the proposed TDPC scheme for the multilateral teleoperation of fixed-base robotic manipulators. The second part is focused on the cooperative and teleoperation control of mobile manipulators. A couple of novel cooperative control schemes have been proposed for the cooperative control of mobile manipulators to manipulate a common object attached to the end-effectors. An adaptive robust teleoperation control scheme has also been proposed with the control objectives of guaranteed stability, synchronization and internal force distribution. Simulation results validate the efficacy of the proposed schemes for the cooperative control and teleoperation of mobile manipulators.
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 : Carolina U. Passenberg
Publisher :
ISBN 13 :
Total Pages : 216 pages
Book Rating : 4.:/5 (898 download)
Download or read book Transparency- and Performance-oriented Control of Haptic Teleoperation Systems written by Carolina U. Passenberg and published by . This book was released on 2013 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Suyong Kim
Publisher : Springer Nature
ISBN 13 : 9819985986
Total Pages : 149 pages
Book Rating : 4.8/5 (199 download)
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:
Author : Troy McDaniel
Publisher : Springer Nature
ISBN 13 : 3030342301
Total Pages : 298 pages
Book Rating : 4.0/5 (33 download)
Download or read book Haptic Interfaces for Accessibility, Health, and Enhanced Quality of Life written by Troy McDaniel and published by Springer Nature. This book was released on 2019-12-18 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first resource to provide in-depth coverage on topical areas of assistive, rehabilitative, and health-related applications for haptic (touch-based) technologies. Application topics are grouped into thematic areas spanning haptic devices for sensory impairments, health and well-being, and physical impairments which are illustrated in this book. A diverse group of experts in the field were invited to contribute different chapters to provide complementary and multidisciplinary perspectives. Unlike other books on haptics, which focus on human haptic perception, specific modalities of haptics (e.g., realistic haptic rendering), or broadly cover the subfields of haptics, this book takes an application-oriented approach to present a tour of how the field of haptics has been advanced with respect to important, impactful thematic focuses. Under Theme 1 “Sensory Impairments”, haptics technologies to support individuals with sensory impairments is presented which includes: Spatial awareness in sensory impairments through touch; Haptically-assisted interfaces for persons with visual impairments; and Enabling learning experiences for visually impaired children by interaction design. Under Theme 2 “Haptics for Health and Well-Being”, haptics technologies aimed at supporting exercise and healthy aging will be covered including: Haptics in rehabilitation, exergames and health; Therapeutic haptics for mental health and well-being; and Applications of haptics in medicine. Under Theme 3 “Haptics for Physical Impairments”, haptics technologies for enhancing the quality of life for individuals with weakened/impaired limbs or neurological diseases impacting movement is targeted including: Assistive soft exoskeletons with pneumatic artificial muscles; Haptics for accessibility in rehabilitative hardware; and intelligent robotics and immersive displays for enhancing haptic interaction in physical rehabilitation environments. Engineers, scientists, and researchers working in the areas of haptics, multimedia, virtual/augmented/mixed-reality, human-computer interaction, assistive technologies, rehabilitative technologies, healthcare technologies, and/or actuator design will want to purchase this book. Advanced level students and hobbyists interested in haptics will also be interested in this book.
Author : Tariq Maysarah Abuhamdia
Publisher :
ISBN 13 :
Total Pages : 106 pages
Book Rating : 4.:/5 (299 download)
Download or read book Constant Visual and Haptic Time Delays in Teleoperation Control Stability and Human Operator Performance in a Simulated Virtual Reality Teleoperation written by Tariq Maysarah Abuhamdia and published by . This book was released on 2008 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Kurosh Zarei-nia
Publisher :
ISBN 13 : 9780494924501
Total Pages : pages
Book Rating : 4.9/5 (245 download)
Download or read book Haptic-Enabled Teleoperation of Hydraulic Manipulators written by Kurosh Zarei-nia and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Yongjun Hou
Publisher :
ISBN 13 :
Total Pages : 196 pages
Book Rating : 4.:/5 (68 download)
Download or read book Stabilization and Control of Teleoperation Systems with Time Delays written by Yongjun Hou and published by . This book was released on 2005 with total page 196 pages. Available in PDF, EPUB and Kindle. Book excerpt: A control scheme for teleoperation systems with time delay is developed based on the concept of passivity. This control method requires neither detailed knowledge of the manipulator systems nor the mathematical models of the environments, and it is applicable for any time delays. The main contribution of this method is that it is less conservative than the traditional passivity based method. In this method, the passivity controller only operates when the system loses passivity, while in a traditional passivity formulation; the controller works at all times during operation and thus adversely affect the performance of the system. Using the proposed control scheme, a sub-system is defined that is composed of the communication channel, slave robot and the manipulated environment. This sub system is treated as a one-port network component, and passivity theory is applied to this component to assure stability. The energy flowing into the one-port network, in the form of the control command and the force feedback, is monitored. A passivity regulator is activated to maintain the passivity of the network by modifying the feedback force to the master, and thus adjust the energy exchange between the master and the communication channel. When this method is applied, only the information at the interface between the master manipulator and the communication channel is collected and observed, there is no need for accurate or detailed knowledge of the structure or timing of the communication channel. The method can make the system lossless regardless of the feedback force, the coordinating force controlling the slave joint motions or the contact force. The approach can stabilize the system regardless of the time delay, discontinuities with environmental contact, or discretization of the physical plant. It will pose no problem when the environmental contact force is directly fed back. The results of this work show that it is advantageous to use the measured environmental force as the feedback, providing superior performance for free motion and more realistic haptic feedback for the operator from the remote environment. Simulation and experimental results are presented to verify the proposed control scheme.
