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In a teaching lab focused on embedded control, students create and interact with virtual environments using a haptic interface. Coupling physical (in particular physiological) environments to virtual environments gives rise to many interesting phenomena, one of which is the appearance of dissipativity in the coupled dynamics, the source of which is difficult to identify. Simple harmonic oscillators...
We present a intuitive teleoperation scheme by using human gesture and multimodal multi-user human-robot interface. Further, in order to deal with the dynamic daily environment, we apply haptic point cloud rendering and virtual collaboration and all these functions are achieved by portable hardwares which is called “mobile iSpace”. First, a surrounding environment of a teleoperated robot is captured...
Using BCI technologies in neural rehabilitation, we can substantially improve hundreds of lives of people after stroke with more effective rehabilitation in restoration of their motor control. In this study, we demonstrate a neuro-rehabilitation framework which integrates BCI and a robot device to provide an active upper limb physical therapy. Our target population for neuro-rehabilitation are patients...
Time-domain passivity approach (TDPA) is a way of stable haptic interaction and robot control, such that at any given time the passivity of the system is guaranteed. It is formulated in time-domain, which facilitates its integration in control loop. In this paper we discuss application of this approach to the teleoperation system, model of which assumes admittance mode - with input of effort (force)...
Previous surface shape presenting methods had difficulties in generating high-density tactile information owing to blurriness in tactile images caused by lateral skin deformations. In this study, a new surface shape presenting method is proposed, and it employs overlapping small-amplitude vibrations instead of a single vibration. This method represents the mechanism of stationary boundary contacts...
Instability and poor performance are two wellknown problems encountered in bilateral teleoperation over a communication channel with variable time delays, where force feedback from the slave side is provided to the master side. When unknown disturbances or external forces act on the master and/or the slave manipulators, the teleoperation system will be even more prone to stability and performance...
In this paper, we propose an online algorithm for multimodal categorization based on the autonomously acquired multimodal information and partial words given by human users. For multimodal concept formation, multimodal latent Dirichlet allocation (MLDA) using Gibbs sampling is extended to an online version. We introduce a particle filter, which significantly improve the performance of the online MLDA,...
To investigating the capabilities of human beings to differentiate between tactile-vibratory stimuli with the same fundamental frequency but with different spectral content, this study concerns discrimination tasks comparing audio and haptic performances. Using an up-down 1 dB step adaptive procedure, the experimental protocol consists of measuring the discrimination threshold between a pure tone...
Although eyes and upper limbs work together over the whole course of arm movement, vision usually dominates in visual-haptic perception. The dependence of the brain on visual information is demonstrated by the wide variety of visual illusions, such as “shade and shape,” that have been developed. In order to quantitatively measure upper-limb motion, a haptic device can be used to obtain numerical data...
Haptic shared control (HSC) has been widely used in human-robot interaction systems, such as car driving and assistive robots. However, the stability analysis of HSC is not well investigated in current literature, especially for the nonlinear systems. In this paper, the stability of HSC for nonlinear systems is analyzed based on the set theory and convex analysis. The authority weight calculation...
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”...
Technology and science have been developing rapidly, and robotic system for human support has been researched recently. Considering the effect of low birthrate and longevity, the system is thought to become important in the future. In this research, environmental embedded haptic system for human support is developed. In order to realize the haptic system, impedance control with positive feedback is...
There is, practically, imperfect communication network (e.g., time delay and packet loss/switching) in haptic interaction (or teleoperation) systems. It is well known that such imperfect communication degrades teleoperator's performance as well as stability. We hypothesis that as an imperfectness level in the communication network is increasing, the teleoperator's performance is decreasing monotonically...
In this study, we investigate and characterize haptic interaction in human-to-human handovers and identify key features that facilitate safe and efficient object transfer. Eighteen participants worked in pairs and transferred weighted objects to each other while we measured their grip forces and load forces. Our data show that during object transfer, both the giver and receiver employ a similar strategy...
Autonomous mobile robots are often equipped with sophisticated sensors designed to provide the system with a model of its surrounding environment. This information can then be used for making task-related decisions and conveying information back to the operator. To date, autonomous systems tend to exceed at well defined tasks such as navigation, planning, and obstacle avoidance, usually in fairly...
Robotic assistance through telepresence technology is an emerging area in aiding the visually impaired. By integrating the robotic perception of a remote environment and transferring it to a human user through haptic environmental feedback, the disabled user can increase one's capability to interact with remote environments through the telepresence robot. This paper presents a framework that integrates...
In this paper, we develop a passive wire-type motion support system controlled by servo brakes to assist human motion in the fields of rehabilitation and sports training. We also propose a control method to guide the human hand by using the servo brakes which cannot generate a driving force. This passive system is intrinsically safe and wire-type motion support system has a wide operating range. But,...
This paper introduces the OP:Sense system that is able to track objects and humans and. To reach this goal a complete surgical robotic system is built up that can be used for telemanipulation as well as for autonomous tasks, e.g. cutting or needle-insertion. Two KUKA lightweight robots that feature seven DOF and allow variable stiffness and damping due to an integrated impedance controller are used...
In telerobotics systems for children, it is crucial that the teleoperation interface is intuitive and well-controllable in terms of communication delay so that the children do not become bored quickly. To this end, we consider an operational feedback design for the teleoperation interface that incorporates the idea of social contingency detection, which is borrowed from a developmental psychology...
An experiment was conducted to reveal the differences between intra-personal and inter-personal systems in terms of the perceptual effect on the stability of the finger-tapping movement in the in-phase vs. anti-phase modes. We investigated a between-subjects factor, i.e., the intra-/inter-personal condition, and a within-subject factor, i.e., the phase mode. In the intra-personal condition, ten participants...
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