Evaluation of a Teleoperated Haptic Forklift

Abstract

A haptic teleoperation scheme has been designed and implemented on a hydraulically actuated lifter which is laboratory version of a forklift truck[1], [2]. This control scheme has two novel features. It produces virtual fixtures based on measurements from a proximity sensor located on its end effector. Secondly, the control system has the ability to switch between position and rate modes during normal operation. In order to evaluate the effectiveness of these features, a series of human factors tests were conducted. Twenty test subjects participated in these experiments. Statistical analysis of the results indicates that both of the aforementioned novel features could enhance an operator's ability to conduct pick and place maneuvers using a forklift truck.

A Lyapunov controller for stable haptic manipulation of hydraulic actuators

“…Now, we prove thatV is negative and at least semi-definite. Utilizing the notation described in Section 4.1 of Reference [23], we can rewriteV in the following form: (1) (t, e)+ W (2) (t, e)·h (2)…”

“…the force feedback is proportional to the position error between the master and slave manipulators. In another application, Kontz et al [1] used virtual fixtures to generate force signals in a forklift truck. Instead of making the system transparent, they allowed it to react to virtual forces acting on the end-effector.…”

A prototype telerobotic platform for live transmission line maintenance: Review of design and development

“…The hand-controller is called a ''haptic'' device if it is capable of producing force. Note that using hand-controllers capable of generating and applying force to the operator (such as the PHANToM haptic device) has shown to potentially enhance the performance of telerobotic systems (Kontz et al, 2005). When information such as position, velocity, force or torque of slave site is transferred onto the haptic device, a sense of telepresence is provided to the operator.…”

“…Also, it has been seen in the literature that using handcontrollers capable of generating and applying force to the operator has potential to enhance the performance of telerobotic systems (Kontz et al, 2005). The simplest way to generate the haptic force is to employ the concept of virtual fixtures, which are force signals generated by software to be applied to the operator's hand via the haptic device (Abbott et al, 2007).…”

Development of a Observe-By-Wire System for Forklifts Using Haptic Interfaces

“…Therefore, visibility is always critical issues relate to forklift operation and control. Our research motivation is to take advantage of haptic-based control and steer-by-wire technology, which have been implemented in many fields such as robotics, factory automation, automobiles and so on [6], [7], [8]. The proposed OBW is a system that enables the operator to concentrate on the tasks and accomplish it faster, safer with less overturns.…”