Haptic interfaced teleoperation

Nongji Chen; Wai Yu; John R. G. Pretlove

doi:10.1117/12.333678

18 December 1998 Haptic interfaced teleoperation

Nongji Chen, Wai Yu, John R. G. Pretlove

Proceedings Volume 3524, Telemanipulator and Telepresence Technologies V; (1998) https://doi.org/10.1117/12.333678
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

Information concerning the remote environment is important for the completion of a teleoperation task. To achieve high performance, it is desirable for this information to be presented to the operator so an adaptive control strategy can be applied. This paper reports on the study of using a haptic interface to relay the contact force of the telerobot to an operator in achieving remote arbitrary path following operations. The telerobotic system contains a haptic user interface, a PUMA 560 robot and a force sensing device. The path following operation was directly controlled by the operator who could feel the contact force and direct the robot movement through the haptic interface. The paper present the configuration of the system used in the study and the result of a set of experiments which has been designed to evaluate the effectiveness of the haptic feedback in improving the performance of the given path following task.

Citation Download Citation

Nongji Chen, Wai Yu, and John R. G. Pretlove "Haptic interfaced teleoperation", Proc. SPIE 3524, Telemanipulator and Telepresence Technologies V, (18 December 1998); https://doi.org/10.1117/12.333678

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