Development of robotic arm using haptic feedback
01 Sep 2016-pp 1-7
TL;DR: The aim is to design and construct a robotic arm through in cooperation of haptic feedback and accentuates the synergy between the human operator and a robot and has various applications in healthcare, medicines, entertainment, education, graphic arts, the industry as well as space.
Abstract: In this paper, we have introduced how autonomous robots would benefit from improvements in haptic intelligence and overview of telerobotics systems. In the real world, we want robots to help to perform tasks in the remote environment. This paper also accentuates the synergy between the human operator and a robot and has various applications in healthcare, medicines, entertainment, education, graphic arts, the industry as well as space. Our aim is to design and construct a robotic arm through in cooperation of haptic feedback. Through the processes of conceptualization, design, assembly, and final coding, we were required to complete tasks ranging from needs assessment, static and dynamic load analyses, design for manufacturing, machining, troubleshooting, and finally microcontroller coding, to name but a few.
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TL;DR: The main objective of the paper is to design and develop the Robot that is used to move using wireless system by recognizing hand motion that is controlled by haptics technology for virtual environment & human-machine systems capable of haptic interaction.
Abstract: Robots of the current generation have been used in fields isolated from the human society. They suffer major shortcomings because of their limited abilities for manipulation and interaction with humans. In order to represent the robotic technology in the field of human-machine interaction and wireless communication for allows interactivity in real-time with virtual objects it is very necessary to develop some or the other technology that makes the maximum use of robot to help people do their work in an efficient way in their day to day life. The main objective of the paper is to design and develop the Robot that is used to move using wireless system by recognizing hand motion that is controlled by haptics technology for virtual environment & human-machine systems capable of haptic interaction. Without risking human life or limb, this research has applications in many areas, including robot assisted surgery, simulation and training, rehabilitation, exploration of hazardous or remote environments, enabling technologies, manufacturing, design, mobile computing, and education. Keywords—Haptics, human-machine interaction system, robotic arm control, robot, transceiver module.
1 citations
TL;DR: A modular robot system which can serve as a base on aspects of robotics in collaborative robots using haptics and to build up a plan for them to work in a collaborative environment which has many benefits to a single more complex system is demonstrated.
Abstract: A R T I C L E I N F O A B S T R A C T Article history: Received: 06 April, 2017 Accepted: 03 May, 2017 Online: 21 August, 2017 When two robot systems can share understanding using any agreed knowledge, within the constraints of the system’s communication protocol, the approach may lead to a common improvement. This has persuaded numerous new research inquiries in human-robot collaboration. We have built up a framework prepared to do independent following and performing table-best protest object manipulation with humans and we have actualized two different activity models to trigger robot activities. The idea here is to explore collaborative systems and to build up a plan for them to work in a collaborative environment which has many benefits to a single more complex system. In the paper, two robots that cooperate among themselves are constructed. The participation linking the two robotic arms, the torque required and parameters are analyzed. Thus the purpose of this paper is to demonstrate a modular robot system which can serve as a base on aspects of robotics in collaborative robots using haptics.
1 citations
Cites background from "Development of robotic arm using ha..."
...In the previous paper [1], we had introduced how autonomous robots would benefit from improvements in haptic intelligence and overview of telerobotics systems....
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01 Sep 2017
TL;DR: The Conclusive simulation shows that, by utilizing this new calculating algorithm, it can give a precise inverse kinematics solution quick and has higher efficiency.
Abstract: This paper displays a procedure for solving the inverse kinematics problem utilizing neural networks in realtime application. The inverse kinematics problem for a robotic manipulator is acquired for the required manipulator joint values for a given desired end point position and orientation. The proposed strategy yields various and exact arrangements and it is suitable for real-time applications. The Conclusive simulation shows that, by utilizing this new calculating algorithm, it can give a precise inverse kinematics solution quick and has higher efficiency. Aside from these, when utilizing as a part of practice, it additionally mirrors a flawless execution.
1 citations
Additional excerpts
...A movement flow planning was designed and developed for the programming of the robot [2],[17],[18],[19]....
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References
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TL;DR: Evolving from user interface design, flight and visual simulation, and telepresence technologies, VR is unique in its emphasis on the experience of the human participant, and neither the devices used nor the level of interactiveness or fidelity determine whether a system is VR.
Abstract: Although the terms cyberspace and virtual reality have been around for years, virtual reality as an industry is in its infancy. The term virtual reality is credited to Jaron Lanier, founder of VPL Research; earlier experimenters, like Myron Krueger in the mid-1970s, used phrases like artificial reality. William Gibson coined cyberspace in his 1984 science fiction novel. Neuromancer. Few technologies in recent years have evoked such fiery discussions in the technical community, and fewer still have sparked such passionate involvement of the humanities and the cultural sector. Maybe the humanities community reacts because the VR interaction is so tightly coupled to the human senses. Perhaps the cultural sector clamours for a role in the evolution of VR because the technology is finally interfacing with the human, rather than the human interfacing with the technology. Whatever the reasons, VR is more a convergence of previously disparate disciplines than a whole new branch of technology. It simply takes a fresh look at human interaction. Evolving from user interface design, flight and visual simulation, and telepresence technologies, VR is unique in its emphasis on the experience of the human participant. VR focuses the user's attention on the experience while suspending disbelief about the method of creating it. We feel that neither the devices used nor the level of interactiveness or fidelity determine whether a system is VR. The quality of the experience is crucial. To stimulate creativity and productivity. the virtual experience must be credible. The reality must both react to the human participants in physically and perceptually appropriate ways, and conform to their personal cognitive representations of the microworld in which they are engrossed. The experience does not necessarily have to be realistic/spl minus/just consistent. >
1,232 citations
01 Jan 2012
TL;DR: This paper aims to bring forth the theory behind the essence of Haptics and its Subfields like haptic interfaces and its applications where haptics is used extensively like in display systems, communication, different types of haaptic devices, and interconnection of haptic displays where virtual environment should feel like equivalent physical systems.
Abstract: This paper presents a novel approach to the understanding of Haptic and its related fields where haptics is used extensively like in display systems, communication, different types of haptic devices, and interconnection of haptic displays where virtual environment should feel like equivalent physical systems. There have been escalating research interests on areas relating to haptic modality in recent years, towards multiple fields. However, there seems to be limited studies in determining the various subfields and interfacing and related information on haptic user interfaces and its influence on the fields mentioned. This paper aims to bring forth the theory behind the essence of Haptics and its Subfields like haptic interfaces and its applications. Haptic as an adjective relating to the tactile sense which is derived from the Greek word haptesthai, which means to touch. A Haptic device involves physical contact between the user and the Computer. This is done through an input/output device that senses the body movements such as a joystick, data glove or bodysuit. Haptics provide the user with the sense of touch on an virtual object. This is done by synchronizing cursor and the haptic end effector movement. A robotic arm is moved in real space which is controlled by a series of motors. To achieve the sensation which is kinesthetic haptic force must be calculated every millisecond and submitted to the haptic device. When the body parts interact with the haptic device a force is returned which is termed as force feedback depending upon which action will be performed by the system through the haptic device. Tactile feedback is used to interact with the nerve endings to feel heat, pressure and texture. Haptic interfaces are devices that enable manual interactions with virtual environments or teleoperated remote systems. They are employed for tasks that are usually performed using hands in the real world, such as manual exploration and manipulation of objects. In general, they receive motor action commands from the human user and display appropriate tactual images to the user. Such haptic interactions may or may not be accompanied the stimulation of other sensory modalities such as vision and audition. Motivation: In the last decade we've seen an enormous increase in interest in the science of haptics. The quest for better understanding and use of haptic abilities for both humans and machines has manifested itself in heightened activity in disciplines ranging from robotics and telerobotics, to computational geometry and computer graphics, to psychophysics, cognitive science and the neurosciences. Contribution: This paper is a fusion of multiple independent studies investigating related problems concerning haptic devices and interfaces. It also deals with Virtual Environments for Haptics in various fields such as Medicine, Gaming, Robotics, Communication, Mobile devices, Data Visualization and Multiuser Environment. Organization: This paper is organized as follows: Section 2 deals with Literature Survey of Haptics, Section 3 deals with Algorithms in the field of Haptics, Section 4 covers Simulation Issues taken up in Haptics and Section 5 briefs about working of Haptics in Multiuser Environment and conclusions are given in Section 6.
28 citations
01 Nov 2013
TL;DR: A new set of approaches for teleoperation of mobile manipulators with on-board cameras with virtual mass-spring-damper forces between the end-effector and the camera is presented, which allows the operator to control the more than six degrees of freedom of the vehicle and manipulator through a standard haptic device.
Abstract: This paper presents a new set of approaches for teleoperation of mobile manipulators with on-board cameras. Mobile manipulators consist of a robotic arm which provides for interaction and manipulation, and a mobile base which extends the workspace of the arm. While the position of the onboard camera is determined by the base motion, the principal control objective is the motion of the manipulator arm. This calls for intelligent control allocation between the base and the manipulator arm in order to obtain intuitive control of both the camera and the arm. We implement virtual mass-spring-damper forces between the end-effector and the camera so that the camera follows the end-effector with an overdamped characteristics. The operator therefore only needs to control the end-effector motion, while the vehicle with the camera will follow naturally. The operator is thus able to control the more than six degrees of freedom of the vehicle and manipulator through a standard haptic device. The control allocation problem, i.e., whether the vehicle or manipulator arm actuation is applied, is then performed automatically so that the operator can concentrate on the manipulator motion.
11 citations
01 Oct 2015
TL;DR: Results suggest that the proposed feedback method could be a viable alternative for obtaining tactile feedback while staying non-invasive and practical to the user, with applications ranging from neuro-prosthetics to control interfaces for remotely operated devices.
Abstract: Due to the growing field of neuro-prosthetics and other brain-machine interfaces that employ human-like control schemes, it has become a priority to design sensor and actuation mechanisms that relay tactile information to the user Unfortunately, most state of the art technology uses feedback techniques that are invasive, costly or inefficient for the general population This paper proposes a feasible feedback method where tactile information during dexterous manipulation is perceived through multi-frequency auditory signals In the interest of examining whether users are able to quickly learn and adapt to the audio-tactile relationship and apply it to the neural control of a robot, an experimental protocol was formed Users were instructed to grasp several objects of varying stiffness and weight using an electromyographically-controlled robotic hand, and tactile information was provided to them in real-time through the proposed cross-modal feedback Results show that users were able to adapt and learn the feedback technology after short use, and could eventually use auditory information alone to control the grasping forces of a robotic hand This outcome suggests that the proposed feedback method could be a viable alternative for obtaining tactile feedback while staying non-invasive and practical to the user, with applications ranging from neuro-prosthetics to control interfaces for remotely operated devices
9 citations
01 Nov 2013
TL;DR: A self-tuning Fuzzy PID control scheme is proposed to improve system transparency by achieving good force tracking performances and to tune PID parameters based on the environment-slave contact force and the human-haptic device contact force in real-time.
Abstract: A new dynamic model and impedance control algorithm of a haptic feedback device for robotic teleoperation is analyzed in this paper. User forces applied to the haptic device through human hand movements are modeled as disturbances to the control system. Detailed analysis for modeling haptic device and human hand is provided and then a self-tuning Fuzzy PID control scheme is proposed to improve system transparency by achieving good force tracking performances. This control is developed to tune PID parameters based on the environment-slave contact force and the human-haptic device contact force in real-time. Experiment results show good force tracking comparison for the 6-DOF haptic teleoperation system.
5 citations