Haptic telemanipulation of soft environment without direct force feedback

Song Aiguo*, Dan Morris, Ed Colgate

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

Haptic exploration of remote object plays an important role in teleoperation system. This paper proposes a novel method to realize the softness display for telemanipulation of soft environment without direct force feedback, which is based on stiffness control of elastic element and damp control of magnetic filed. This method can produce softness sensation with wide range from very soft to hard to the human fingertip. And a new control structure for hapticly telemanipulating the soft environment by using the softness display devices is presented, which send dynamics parameters of soft environment identified on line back to the master site instead of direct force feedback. The parameters are used to control the softness display, which can let human operator feel the softness of remote environment when his fingertip jiggles the button of the softness display device.

Original languageEnglish (US)
Title of host publicationICIA 2005 - Proceedings of 2005 International Conference on Information Acquisition
Pages21-25
Number of pages5
Volume2005
StatePublished - Dec 1 2005
EventICIA 2005: 2005 International Conference on Information Acquisition - Hong Kong, China
Duration: Jun 27 2005Jul 3 2005

Other

OtherICIA 2005: 2005 International Conference on Information Acquisition
CountryChina
CityHong Kong
Period6/27/057/3/05

Keywords

  • Haptic
  • Man-computer interface
  • Softness display
  • Stiffness
  • Teleoperation

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Aiguo, S., Morris, D., & Colgate, E. (2005). Haptic telemanipulation of soft environment without direct force feedback. In ICIA 2005 - Proceedings of 2005 International Conference on Information Acquisition (Vol. 2005, pp. 21-25). [1635047]