Non-Linear Local Force Feedback Control for Haptic Interfaces

“…Delay compensation techniques for NimbRo are neglected, since the distance between operator and teleoperator is assumed to be small. Balachandran et al (2018) investigate HUGs feedback behaviour under delay.…”

Section: Introductionmentioning

confidence: 99%

PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications

Elsner¹,

Reinerth²,

Figueredo³

et al. 2022

Front. Virtual Real.

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In this paper, we introduce a tele-robotic station called “PARTI” that leverages state-of-the-art robotics and virtual reality technology to enable immersive haptic interaction with simulated and remote environments through robotic avatars. Our hardware-in-the-loop framework integrates accurate multibody system dynamics and frictional contacts with digital twins of our robots in a virtual environment with real-time computational capabilities. This model mediated hardware-in-the-loop approach to robotic control allows a teleoperator to use the PARTI system to teach, evaluate, and control various robotic applications. In the current contribution, we focus on the general system description, integrated simulation and control framework, and a series of experiments highlighting the advantages of our approach.

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“…In Luecke and Chai (1997), a force and a position controller are employed. As a means of validating the device, three tests are performed, of which the Source: (KUKA AG, 2020), (BALACHANDRAN et al, 2018).…”

Section: Haptic Interfaces Design and Similar Workmentioning

confidence: 99%

Haptic feedback through lower limbs exoskeleton for rehabilitation robotics with virtual reality

Ostan¹

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Non-Linear Local Force Feedback Control for Haptic Interfaces

Cited by 11 publications

References 9 publications

A Stable and Transparent Framework for Adaptive Shared Control of Robots

A Stable and Transparent Framework for Adaptive Shared Control of Robots

PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications

Haptic feedback through lower limbs exoskeleton for rehabilitation robotics with virtual reality

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