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This paper presents the design, construction and implementation of a calligraphic platform with biomedical applications. This technological tool could be employed in physiotherapy to recover the loss of calligraphic abilities caused by common psychomotor disorders such as dyslexia and brain stroke. The experimental platform allow to define the motion performance (physical interaction variables), in...
Wireless teleoperation of field robots for maintenance, inspection and rescue missions is often performed in environments with low wireless connectivity, caused by signal losses from the environment and distance from the wireless transmitters. Various studies from the literature have addressed these problems with time-delay robust control systems and multi-hop wireless relay networks. However, such...
The present paper discusses a framework for creating flexible rehabilitation exercises on a mobile haptic interface. The approach is based on a combination of high level interactive scripting with a flexible real-time haptic control algorithm. The control problem has been decomposed into primitives such that the real-time issues are managed at low level on the mobile system, while a high level control...
Combining teleoperation and haptic feedback is a challenging task. Haptic feedback makes a teleoperation system bilateral, introducing sensitivity to communication system delays. Delays are a common cause of control system instability, but with haptic feedback another source of instability is introduced due to the interaction between force and velocity which adds energy to the system. TCP/IP equipment...
In this paper we present a combination of neuroscience experiments with the use of a parallel armrest robot to study the effects of temporal delays and spatial biases on the movement perception. A dedicated armrest to guide and manipulate the arm has been developed for these experiments. It is a three-degree-of-freedom Delta structure. In combination with a virtual reality application, the movement...
This paper investigates goal-directed cooperative object swinging as a novel physical human-robot interaction scenario. We develop an energy-based control concept, which enables a robot to cooperate with a human in a goal-directed swing-up task. The robot can be assigned to be a leader or an actively contributing follower. We conduct a virtual reality experiment to compare effort sharing and performance...
This paper proposes a robust motion-copying system using the motion-data memory. A motion-copying system has been proposed as the system of saving and reproducing the human motion. In the conventional method, the reproduced motion is different from the saved motion when an unexpected force inputs the system. Therefore, the conventional system may cause the destruction of the environment. To solve...
Performing a robotized telemedicine act via specific networks brings forth two issues. One is transparency in order to enable the operator, e.g. the medical ultrasound specialist, to safely and accurately perform bilateral tele-operation tasks despite the long time delays inherent to the communication link. To counter these effects, two strategies are combined to improve, at the operator site, the...
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)...
Several established methods for remote touching using non-contact sensors exist. Applications for these methods are primarily within the field of robotic teleoperation. In surgical robotics it would be useful to not only touch, but also be able to maintain a distance from a certain organ. The latter can be done using non-contact sensors such as cameras. The novelty in this paper is the idea of combining...
This paper presents a new Haptic Rate-Position controller, which allows manipulating a slave robot in a large workspace. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried...
This paper introduces a new method for remote surgical cutting by providing haptic guidance along a trajectory that is measured in-situ through a miniature, tool-tip mounted endoscopic camera. By directly augmenting the instrument with a camera, instead of relying on an additional conventional endoscope, the approach becomes independent from inherent calibration uncertainties of the telemanipulation...
Computer haptics has so far been performed on a personal computer (PC). Off the shelf haptic devices provide only PC interfaces and software drivers for control and communication. The new wave of high capable tablet PCs and high end smart phones introduced new platforms for haptic applications. The major problem was to communicate wirelessly to provide user convenience and support mobility which is...
This paper presents progress in the development of a robotic system for post-stroke upper limb rehabilitation. It is a portable, lower cost, actuated upper limb robotic rehabilitation device, which is being developed to meet the needs of stroke therapists and their patients. The developed system provides force feedback for haptic rehabilitation, applying both resistive and assistive forces for more...
The paper presents a driving simulator of a combat vehicle aimed for driver-vehicle interaction studies and design of a full-scale driving simulator. The simulator incorporates a real-time combat vehicle dynamics simulation module, a graphical presentation module, a robotic seat motion system, and a haptic steering system. The simulation module simulates dynamic motion and interaction with the environment...
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...
This paper intoduces a preliminary study on a new control decomposition criterion for collaborative teleoper-ation systems — field of view deficiency. This criterion represents the amount of visual information available to operators. As a tool for such decomposition we introduce a dominance distribution matrix — a more flexible approach to dominance distribution than a well-known scalar dominance...
In a multi-operator multi-robot (MOMR) teleoperation system, each human operator controls a remote slave robot via a corresponding master interface to jointly perform complex tasks. This paper provides a hardware-in-loop simulation to study collaborative haptic interaction of MOMR teleoperation systems based on decentralized control approach. This approach uses physically-based motion simulation for...
Currently in medical education, clinical students learn how to interact with real patients via simulated patients, which are inexpressive, teleoperated robot mannequins. We obtained five simulations that used such a robot to explore verbal communication between clinical students and the robot patient, specifically if the students sought approval before performing haptic-actions. We found that in our...
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