A five-bar-linkage force reflecting interface for a virtual reality system

Ching, Mennas C.; Wang, D.W.L.

doi:10.1109/robot.1997.606745

Cited by 5 publications

(4 citation statements)

References 7 publications

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“…The five-bar-linkage manipulator was designed and built at the University of Waterloo. It is gravity balanced and dynamically decoupled using the counterbalancing scheme developed by Ching and Wang (1997), with further modifications by Madill (1998). Furthermore, the robot uses directdrive motors so that nonlinear effects, such as gear backlash and friction, are not present or are minimal.…”

Section: Methodsmentioning

confidence: 99%

A Gain-Switching Control Scheme for Position-Error-Based Bilateral Teleoperation: Contact Stability Analysis and Controller Design

Ni¹,

Wang

2004

The International Journal of Robotics Research

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To lower the cost of a force-reflecting teleoperation system, position errors instead of direct measurements from force/torque sensors can be used for force feedback. An investigation on transparency shows that position-error-based teleoperation provides poor transparency when using constant controller gains, and this can be overcome by gain switching. The scenario studied in this paper is a position-errorbased bilateral teleoperation system when the slave robot is either in free motion or colliding with a stationary stiff environment. A contact stability analysis is presented for teleoperation systems with constant controller gains and then extended to a gain-switching teleoperation system. Issues on the design of a gain-switching control scheme are discussed. The effectiveness of the proposed gain-switching control scheme is evaluated experimentally.

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Section: Methodsmentioning

confidence: 99%

A Gain-Switching Control Scheme for Position-Error-Based Bilateral Teleoperation: Contact Stability Analysis and Controller Design

Ni¹,

Wang

2004

The International Journal of Robotics Research

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“…In order to feel the feedback force, we need a mechanical device, often called haptic display or haptic interface, which interacts physically with the human operator, mediating reaction forces of the virtual environment. Several haptic devices have been proposed, from general force feedback tools [10][11][12][13][14] Reproduced with permission of the copyright owner. Further reproduction prohibited without permission.…”

Section: Haptic Simulationmentioning

confidence: 99%

“…Recently, some research projects have begun to test the feasibility of using VEs in medicine. Applications of this technology are being developed for health care in the following areas: surgical procedures (remote surgery or telepresence [11,13], augmented or enhanced surgery [14,15], and planning and simulation procedures before surgery [16,17]); medical therapy [5,18,19]; neuro-psychology [20][21][22][23][24][25]; preventive medicine and patient education [26]; medical education and training [27,28]; visualization of massive medical databases [29] and skill enhancement and rehabilitation [30]; and architectural design for health-care facilities [31].…”

Section: Virtual Reality (Vr) and Virtual Environments (Ves)mentioning

confidence: 99%

Modeling of needle insertion forces for haptics-bassed surgical simulation

Ye¹

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This manuscript has been reproduced from the microfilm master. UMI films the text directly from the original or copy submitted. Thus, some thesis and dissertation copies are in typewriter face, while others may be from any type of computer printer. The quality o f this reproduction is dependent upon the quality o f th e copy submitted. Broken or indistinct print, colored or poor quality illustrations and photographs, print bleedthrough, substandard margins, and improper alignment can adversely affect reproduction. In the unlikely event that the author did not send UMI a complete manuscript and there are missing pages, these will be noted. Also, if unauthorized copyright material had to be removed, a note will indicate the deletion. Oversize materials (e.g., maps, drawings, charts) are reproduced by sectioning the original, beginning at the upper left-hand comer and continuing from left to right in equal sections with small overlaps.

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“…It is gravity balanced and dynamically decoupled using the counterbalancing scheme developed by Ching and Wang [13]. Furthermore, the robot uses direct-drive motors so that non-linear effects, such as gear backlash and friction, are not present or are minimal.…”

Section: Figure 4: Experimental Setupmentioning

confidence: 99%

A gain-switching control scheme for position-error-based force-reflecting teleoperation

Wang

Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002

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To lower the cost of a force-reflecting teleoperation system, position errors instead of direct measurements from force/torque sensors can be used for force feedback. However, the position-position architecture with fixed PD controllers provides poor transparency. A gain-switching control scheme is developed in this paper to solve this problem. Based on the detection of the impedance change at the slave site, the master and slave PD controller gains are switched accordingly. Experimental results are shown to demonstrate the effectiveness of this method.

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A five-bar-linkage force reflecting interface for a virtual reality system

Cited by 5 publications

References 7 publications

A Gain-Switching Control Scheme for Position-Error-Based Bilateral Teleoperation: Contact Stability Analysis and Controller Design

A Gain-Switching Control Scheme for Position-Error-Based Bilateral Teleoperation: Contact Stability Analysis and Controller Design

Modeling of needle insertion forces for haptics-bassed surgical simulation

A gain-switching control scheme for position-error-based force-reflecting teleoperation

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