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Telexistence technology enables a highly realistic sensation of existence in a remote place without any actual travel. The concept was originally proposed by the first author in 1980, and its feasibility has been demonstrated through the construction of alter-ego robot systems such as TELESAR & TELESAR V, which were developed under the national large scale project on “Robots in Hazardous Environments”...
The main purpose of our study is to characterize the urban and industrial wastewaters and receiving waters of Annaba (NE, ALGERIA) and to recommend an appropriate treatment which will allow their later reuse and minimize their harmfulness on the receiving areas such as the Seybous River, Forcha River and sea. The physicochemical characterization of urban wastewater of six (06) points studies revealed...
We propose a novel full-parallax three-dimensional (3D) display system-RePro3D-that is suitable for interactive 3D applications with haptic feedback.Our approach is based on the retro-reflective projection technology in which several images projected from a projector array are displayed on a retro-reflective screen. When viewers view the screen through a half mirror, they see, without the aid of glasses,...
Our research aims to enable persons to communicate remotely with numerous participants while moving around freely in public spaces. To achieve this goal, we developed a novel remote communication system based on a mutual telexistence master-slave system. In this paper, we propose a system that transmits the operator's sense of existence to the participant using retro-reflective projection technology...
We have proposed a vision-based cutaneous sensor for telexistence that can simulate the physical interaction between a human fingertip and an object. The proposed sensor comprises a finger-shaped GelForce and a thermo-sensitive paint. The finger-shaped GelForce enables us to measure tactile information in terms of the distribution of forces that are calculated from the displacements of markers inside...
We propose a three-dimensional (3D) haptic modeling system that enables a user to create 3D models as though he/she is drawing pictures in mid-air and touch the created models. In the proposed system, we use our ungrounded pen-shaped kinesthetic display as the interface. The kinesthetic display device can generate kinesthetic sensations on the user's fingers. Because our system does not use mechanical...
To enhance the realistic sensation and the human presence in a telepresence or a telexistence system, it is important not only to match the audio-visual sensation of the operator with the robot but also to match the embodiment of the operator with the robot by reflecting the somatic sensation of the operator. Presently, however, in telexistence, the key factors for matching the embodiment of the operator...
It is believed that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous operations. Therefore, we develop a new type of finger-shaped haptic sensor using GelForce technology. GelForce is a vision-based sensor that can be used to measure the distribution of force vectors, or surface traction fields. The simple structure...
We proposed a pen-shaped handheld haptic display that provides kinesthetic sensations to the fingers of a user without the use of mechanical linkages. The user's movements are not restricted since the device does not have mechanical linkages, and the user can enjoy haptic interactions with virtual environments. In order to downsize the device, we designed our device on the basis of a hypothesis that...
In the paper we are proposing a conceptually novel approach to reinforcing (intensifying) own feelings and reproducing (simulating) the emotions felt by the partner during online communication through specially designed system, iFeel_IM!. The core component, affect analysis model, automatically recognizes nine emotions from text. The detected emotion is stimulated by innovative haptic devices integrated...
In order to achieve awareness of collision during teleoperation and to support operator with valuable information (object stiffness and shape), we elaborated approaches to object parameter identification and delivering this information to the operator's skin through tactile display. The tactile sensory ability of the remote manipulator allows collision detection and exploration of contacting object...
We are perceiving environment tactually in various situations. Does the perception of tactile timing change depending on the stimulated body parts or how we touch? In this research, we focused on how temporal information is combined under the influence of two distances-somatotopic and spatiotopic. Which distance is important for temporal processing? We provide two experiments to investigate this question...
The paper focuses on the teleoperation system TeleTA with haptic feedback designed to realize haptic communication with remote human, to achieve high level of maneuverability of robot arm in unstructured environment, and to increase effectiveness of physical human-robot interaction. The human operator directs the robot arm to the target position, while manipulator sensory system provides safe physical...
Tactile timing mechanism, which is essential for an accurate response to the external environment, has to compensate for the distortions of neural timing signals specifically, signals that come from distributed peripheral receptors and body parts, which move dynamically in space. Since an accurate visual timing encoding lacks precision when two widely separated photoreceptors are used, we studied...
In this study, we propose a novel grip-type haptic display for controlling a virtual (or robotic) hand (Fig. 1). This grip-type haptic display enables us to control a virtual hand and perceive haptic information based on a reactive force and a spatially distributed tactile feedback. Because this proposed display does not need any actuators to produce the reactive force, a simple haptic display is...
The paper focuses on a novel system iFeel_IM! that integrates 3D virtual world Second Life, intelligent component for automatic emotion recognition from text messages, and innovative affective haptic interfaces providing additional nonverbal communication channels through simulation of emotional feedback and social touch (physical co-presence). The motivation behind our work is to enrich social interaction...
We propose a haptic feedback system for an arm in order to obtain the sensation of stiffness and the boundary of virtual objects. Powerful haptic displays are large and heavy, interfering with movement in the virtual environment. Here, we focus on an illusion called pseudo-haptic feedback, which provides the results of haptic feedback using only visual impressions. Since pseudo-haptic feedback is...
In this paper we introduce a novel concept of obstacle avoidance through tactile interaction. The implementation of the approach was realized on humanoid robot arm with optical torque sensors distributed to each robot joint. When manipulator collides with an object, the control system enables to follow the object outline smoothly till robot reaches the target point. Such approach ensures not only...
The paper focuses on vibration damping control of a new anthropomorphic robot arm enabling the torque measurement in each joint and tactile area recognition to ensure safety while performing tasks of physical interaction with environment or human beings. The vibrations in heavily loaded joints have risen due to compliances introduced into each joint of the robot arm by means of torque sensors. Such...
It is expected that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous manipulations. Therefore, we have developed a new type of finger-shaped haptic sensor that can measure a three-dimensional force vector field over a contact surface. The sensor consists of a transparent elastic body, two layers of internal blue...
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