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This paper presents a method of force feedback for the haptic interface of underwater vehicles. The force feedback is implemented by estimating repulsive force based on the external sensor fusion. The repulsive force of the haptic system is composed of two parts: 1) the applied force to the underwater vehicle, and 2) a virtual force from the underwater obstacles. The applied force to the underwater...
In this paper, new force feedback rendering scheme for mobile robot teleoperation is presented. Previous research indicated the problem of the low quality of mobile robot's motion control during the teleoperation with feedback force based on obstacle range information. Human-operator's commands were distorted by the feedback force, as a result, mobile robot could not follow human-operator's intention...
This article describes the design and development of a thimble-sensor used for virtual object manipulation. This thimble is specially designed to provide the force information applied on an object by using four FlexiForce sensors and a fingertip orientation. Likewise, the aim of this paper is focused on the mechanical design, which relies on developing an adjustable mechanical tool non-finger-size...
Providing force and torque feedback in every degree of freedom of a haptic device can be complex and costly, often prohibitively so. Consequently, devices that reduce the number of actuators such as SensAble's PHANTOM Omni, a 6-degree-of-freedom (DOF) positioning, 3-degree-of-freedom force feedback haptic device, have gained popularity. While these devices have been widely accepted, no previous study...
Actuated car doors are a promising way to increase the convenience of access to cars. In this paper, an advanced door concept which can easily be integrated into conventional car doors is presented. Using a linear, non-backdrivable actuator and various sensors, both automatic and manual door operations can be realized. The principal part is the realization of a high-quality haptic interaction of the...
This paper presents a haptic interface for simulation of catheter operations used in gastrointestinal endoscopy. The haptic device is small and light to be attached to the instrument channel port of the actual endoscope handle used in the endoscopy simulation. The interface is a passive brake type. Solenoids and springs are used for force feedback. The feedback force is regulated by voltage change...
The atomic force microscope (AFM) has been widely used as a nano-effector with a function of force sensing to detect interaction forces between an AFM tip and a sample, thereby controlling the process of the nanomanipulation. However, both the extent and accuracy of force application are significantly limited by the nonlinearity of the commonly used optical lever with a nonlinear position-sensitive...
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