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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, this system is thought to become important in the future. In this research, environmental embedded haptic system for human support is developed. Action recognition and support is realized by the concept based on the modal transformation,...
This paper proposes a method to recognize human motion using DP matching based on position and force information. In this method, the position and force information is acquired by bilateral control system. Two kinds of motion information are recorded beforehand. These are called a reference pattern and an input pattern. The reference pattern is data of simple human motion, and the input pattern is...
Multimodal VR training platforms appear as a very promising complement to traditional learning methods for the transfer of skills. The environment is fully controlled and the content of the application, as well as the feedbacks, can be tuned to the performances and progress of the user. The efficiency of this approach depends however on the ability to realistically reproduce the situations encountered...
Touch screen technology has become pervasive in the consumer product arena over the last decade. It offers some distinct advantages over traditional interfaces, including the removal of space consuming peripherals such as mice, keyboards, and joysticks from a system's design. However, there are significant drawbacks to these devices that have limited their adoption by so-called power users. Most notably,...
Spine surgery is a complex operation requiring extensive experience and highly accurate manipulations of instruments. Traditional methods like practice in operating room have major drawbacks such as high risk and rare chance for which virtual reality (VR) and computer technologies can offer solutions. The development and prevalence of the Da Vinci system has greatly helped surgeons and interns, which...
This paper presents the optimal design and self-tuning fuzzy PID force control of a new 6-DOF haptic device. The haptic device is designed to select the optimal lengths of links so that requirements of workspace, force transmission ratio and singular configuration are satisfied. These requirements produce a composite global design index as a multi objective function. The indexes of optimal design...
This paper presents a novel multi-rate digital-control system which preserves stability while providing robustness to time-delay and data loss. In addition, this architecture allows for high-order anti-aliasing filters to be included which do not adversely affect system stability. Therefore, it allows for improved noise-rejection and system performance as compared to traditional digital control systems...
This paper presents the current state of the art and developments in the CAD/CAE and VR research laboratory at Transilvania University in the framework of the project VEGA. First the project context is presented, with the major objectives and work teams designed for researching various aspects of VR applications. Then, the VEGA research infrastructure is presented, with performances and facilities,...
In this paper, the effect of deformable environment to the performance of three bilateral teleoperation control schemes for hydraulic actuators are investigated through dynamic simulation. The considered schemes are Force Reflection, Position Error and Lyapunov feedback controllers. Two type of environments are considered, first is spring model and the second one is environment which is described...
Resolution is a key index in evaluating a haptic device. High resolution provides good performance for haptic device. In this paper, the resolution of iFeel6, a 6 degree of freedom (DOF) cable-driven haptic device, is analyzed. For the presented haptic device, the resolution is divided into translational resolution and rotational resolution. Each of them is defined in this paper. Then a method of...
This paper presents a criterion for passivity of n-port networks, which can be used to model multilateral systems involving haptic information sharing between a number of users. Such systems have recently found interesting applications in both cooperative haptic teleoperation and haptics-assisted training. The criterion presented in Theorem 1, which is necessary and sufficient for passivity of the...
This paper presents an adaptive haptic control for a one degree-of-freedom surgical device. The control addresses the problem of hitting a solid object too hard in the presence of time delay. The proposed control runs in the inner-loop, with no time delay, and follows commanded forces from the outer loop. A Lyapunov-stable backstepping-with-tuning-functions design provides a way to ensure smooth forces...
Disturbance observer is significantly becoming the preferred approach since it offers distinct advantages of improving robustness of the force control and accuracy of the force estimation. Current and velocity information are the reference inputs of the disturbance observer whereas the external force estimation is the output. Generally, velocity information without noise effects can be calculated...
In this paper, lossy compression based on Integer DCT (Discrete Cosine Transform) for haptic data is presented and implemented to an FPGA (Field Programmable Gate Array). The lossy data compression accomplishes to reduce data size of the haptic data. In the lossy data compression, DCT-based techniques are often used. The Integer DCT (IntDCT) achieves the operation of the DCT with the format of integer...
Haptic modality is one of the most important issues in man-machine communication. This paper introduces a personal identification technique based on force information of finger tracing that can be used for advanced man-machine communication systems. Compared to other biometric methods, the proposed method has an advantage of high security due to the invisible feature of force information. Experimental...
There is ample research on the stabilization of haptic teleoperation systems under communication time delay. Little attention, however, has so far been paid to the usefulness of delayed haptic feedback on task performance. While the usefulness of haptic feedback in no-delay teleoperation has been previously established, this paper investigates whether haptic feedback helps to improve task performance...
Robot-assisted rehabilitation has only recently begun to be applied to improvement of hand function after stroke. In a preliminary study, involving 4 post-stroke subjects, more than 2 years following the stroke, we have been able to show that 8 weeks of robot-assisted training leads to changes in patterns of arm and finger muscle activation. The patterns were quantified in terms of synchronous muscle...
Path planning methods are well suited to automatically perform robotic tasks; haptic guidance is a powerful tool for disabled people rehabilitation, sports training, handcraft skills acquiring and such kind of enactive tasks. This paper proposes a novel an efficient method to accomplish guided movements by efficiently combing path planning methods and haptic guidance. The main contribution of this...
In this paper, Dual Differential Rheological Actuator (DDRA) is discussed. DDRA is an actuator with high performance torque and position control characteristics, in addition to versatile, safe, robust and easily controllable robotic interactions. DDRA's design is based on the use of two magnetorheological (MR) brakes coupled to an EM motor and to the system's output through a dual differential mechanism...
In this paper, we introduce a passive haptic device which consists of wires with servo brakes and its control method for physical support of human being. Since servo brakes control a point constrained by wires, this passive system is intrinsically safe and has a wide operating range. We especially develop a motion support system controlled on plane and conduct a path following experiment for illustrating...
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