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Flexible actuator, which is able to separate an end effector and an actuator, is developed for weight saving and miniaturization of robotic end effector. Flexible actuator consists of a flexible wire and a motor. This system is expected to be utilized for haptic motion with bilateral control. Flexible actuator with bilateral control is able to transmit position/force or angular/torque information...
This paper presents acceleration-wave-based data transmission and control model to improve performance in terms of transparency and perception bandwidth for time-delayed teleoperation mechanisms. Four channel wave transmission structure provides direct force and velocity feedbacks to each robot by asymmetric damping. Wave data is decomposed into acceleration terms and employed in acceleration control...
Power line inspection and maintenance is a slowly but surely emerging field for robotics. This paper describes the control scheme implemented in LineScout technology, one of the first teleoperated obstacle crossing systems that has progressed to the stage of actually performing very-high-voltage power line jobs. Following a brief overview of the hardware and software architecture, key challenges associated...
We built an acoustical telepresence robot named TeleHead, which has a user-like dummy head and whose movement is synchronized with the user's head movement in real time. An accurate-shape user-like dummy head improves sound localization accuracy, but making an accurate-shape user-like dummy head for all users is not realistic. There have been many efforts to simplify dummy heads without head movement...
In this paper we describe a method for bridging internet time delays in a teleoperation scenario. In the scenario, the sizes of the time delays is not only stochastic, but it is also large compared to the task execution time. The method proposed uses minimum jerk motion models to predict the input from the user a time into the future that is equivalent to the one-way communication delay. We present...
This paper derives analytic guidelines to tune the popular Position-Force bilateral controller and improve its performance by incorporating available knowledge on the bounds of the environment impedance. The proposed guidelines can prove especially useful in the domain of telesurgery where a need exists for well-understood bilateral teleoperation controllers, that show good performance and where many...
Any teleoperation system involving two distant devices is affected by communication delay due to the physical gap between the devices. Several approaches based on wave variables have already been proposed to deal with time-varying delay. However, these approaches are too conservative resulting in high degradation from the constant time delay case. In this paper, we propose a new control scheme for...
Robots in remote environments (e.g., emergency response) have many potential benefits and affordances, with imagery (or video) being a major, if not primary, affordance. However, remote imagery is usually affected by the keyhole effect, or viewing the world through a ??soda straw.?? This work focuses on reducing the keyhole effect by improving the viewing angle of the imagery using a novel method...
This paper presents results achieved in the frames of a national research project (titled ldquoDIANOEMArdquo), where visual analysis and sign recognition techniques have been explored on Greek Sign Language (GSL) data. Besides GSL modelling, the aim was to develop a pilot application for teleoperating a mobile robot using natural hand signs. A small vocabulary of hand signs has been designed to enable...
Mobile devices, like cell phones or smart phones, can nowadays be used to monitor and control remote devices like technical systems. While monitoring systems do not have high requirements on the transmission time of the displayed data, navigating a mobile robot from remote requires more real time data transfers. Therefore not only the possibilities of using mobile devices where researched, but also...
Flexible endoscopes have been recently used for new surgical procedures called NOTES, i.e. Natural Orifice Transluminal Endoscopic Surgery. However, the movements of conventional flexible endoscopes are limited and surgeons can only perform basic tasks with these systems. In order to enhance endoscopes possibilities and workspace, several solutions have been proposed to redesign the whole endoscopic...
A teleoperated surgical robotic system allows surgical procedures to be conducted across long distances while utilizing wired and wireless communication with a wide spectrum of performance that may affect the outcome. An open architecture portable surgical robotic system (Raven) was developed for both open and minimally invasive surgery. The system has been the subject of an intensive telesurgical...
This paper introduces some issues related to the development of robotics for endoluminal surgery from control point of view. Endoluminal surgery are incisionless procedures performed through natural orifices within the natural pathways. New devices are then required to achieve these new surgical procedures. Besides the development of new devices, control issues arise in both technological and theoretical...
This paper presents a new haptic training method for motor skill acquisition working in a teleoperated system. The method promotes a visuo-motor learning process base on the active attention and participation of the apprentice during training. Using a robot end-effector, the master describes a desired path which is followed by the apprentice using a haptic device. The master aids the apprentice by...
When the traditional robot stiffness control is applied into the internet environment, the uncertain time delay will bring a very austere problem of impact and stability to the system. So, a RST(rough set theory) based stiffness tel-controller was designed to solve the problem, and the result of experiment show that this controller can ensure the stability of the stiffness tel-control system.
In this paper, a tele-operation control system of construction robot ( TCSCR) with the master-slave control form is presented, which consists of a construction robot controlled by servo valve, and two joysticks for operating the robot from a remote place, and 3-dimensional virtual working environment based on the virtual reality technology. The teleoperation technology employing virtual reality, improves...
In this paper, embedded Internet technology and field bus technology applies to Multi-robot system. It does not only realize open network control system which is fully digital and distributed, but also solve the seamless connection between the underlying equipment and Internet. The system improves the capability of signal transmission and the convenience of operation. So that, the open tele-operation...
A teleoperation robotic system using bilateral control is useful for performing restoration in damaged areas, and also in extreme environments such as space, the seabed, and deep underground. The system consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place. A fork glove is equipped with the front end of the excavator as a hand for grasping...
Android robots that have a human-like appearance have been developed recently. The purpose of android robots is to realize natural communication between human and robot by implementing human-like behaviors. In human communication, since it is said that facial expressions contribute to face-to-face communication effectively as a nonverbal medium, we have been developing the face robot that has human-like...
For human being the object perception process is often conducted in a non-crisp manner, in which vagueness plays one of the pivot roles. In this paper, we propose a fuzzy logic based approach for vision-based object perception in enhanced reality, supported by a shape repository. By means of defining the fuzzy matching and reasoning rules, the proposed approach is capable of supporting the fuzzy decision...
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