Telemanipulation with force-based display of proximity fields

Navarro, Stefan Escaida; Heger, Franz; Putze, Felix; Beyl, Tim; Schultz, Tanja; Hein, Björn

doi:10.1109/iros.2015.7354027

Cited by 8 publications

(9 citation statements)

References 18 publications

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“…Göger et al show the integration of a tactile proximity sensor into fingertips [30]. In [31], [32], Escaida Navarro et al show the integration of the sensor presented in [33] into a two-jaw gripper for reactive preshaping and telemanipulation with force-feedback. In [31], [32], the limitations of self-capacitance sensing with regards to material properties are on display.…”

Section: A Capacitive Sensingmentioning

confidence: 99%

“…In [31], [32], Escaida Navarro et al show the integration of the sensor presented in [33] into a two-jaw gripper for reactive preshaping and telemanipulation with force-feedback. In [31], [32], the limitations of self-capacitance sensing with regards to material properties are on display. This is addressed to some extent in [34] with mutual-capacitance sensing and flexible spatial resolution.…”

Section: A Capacitive Sensingmentioning

confidence: 99%

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Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

et al. 2022

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Section: A Capacitive Sensingmentioning

confidence: 99%

Section: A Capacitive Sensingmentioning

confidence: 99%

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

et al. 2022

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“…The sensor output is not affected by ambient light, and it is possible to detect transparent objects. Navarro et al (2014Navarro et al ( , 2015 installed capacitive tactile proximity sensors on a parallel jaw gripper, and they realized simultaneous control of six DOFs of an arm tip based on proximity-feedback control. They also proposed a system for human operation support in a remote control system by feeding back the sensor outputs to a haptic interface.…”

Section: Reactive Architecturementioning

confidence: 99%

“…When the fingertip and the object surface are not parallel, the current distribution inclines, and the center position moves to the side in which the distance to the object is shorter, as shown in Figure 3(c). Therefore, the tilt from 0 8 in the roll angle direction can be detected based on y c , and the tilt from 0 8 in the pitch angle direction can be also detected Navarro et al (2014Navarro et al ( , 2015 40 × 40 × -100.0 (48 detectors) 0 100…”

Section: Structure and Outputs Of The Proximity Sensormentioning

confidence: 99%

Integrated control of a multiple-degree-of-freedom hand and arm using a reactive architecture based on high-speed proximity sensing

Koyama

Shimojo

Ming

et al. 2019

The International Journal of Robotics Research

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We describe integrated control of a multiple-degree-of-freedom hand and arm using a simple reactive architecture based on high-speed proximity sensing. A proximity sensor installed on each fingertip of the hand detects the positions between the sensor and the surface of an object. By feeding back the sensor outputs, the reactive architecture simultaneously controls the position of the arm tip and the vector connecting the grasping position and the origin of the arm tip coordinates, the wrist posture, and the initial finger configurations before grasping. This architecture makes it possible to correct position errors. In addition, since the positions and postures are controlled without contact, there is no danger of damaging the object or the robot. To realize this integrated control using a simple reactive architecture, we designed a high-speed proximity sensor for the fingertips of the hand, and developed an integrated control system for the hand and the arm. We demonstrate high-speed position adjustment motion and grasping for static and moving objects in experiments.

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“…There are various applications for those sensors. One of them is proximity servoing [22], where a two finger gripper is equipped with CTPSs. The sensors proximity data is used to align the gripper to objects in position and orientation without touching them.…”

Section: Beyond Palpationmentioning

confidence: 99%

A haptic display for tactile and kinesthetic feedback in a CHAI 3D palpation training scenario

Hergenhan

Rutschke

Uhl

et al. 2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Robot-assisted minimally invasive surgery generally prevents the use of an important diagnostic tool in medicine: palpation. There are various approaches to reestablish the haptic feedback for the surgeon, including tactile displays and haptic input devices. We present a novel haptic display that features seven pins mounted on compression springs that can be pre-loaded with servo motors. Each pin has a stroke of 10 mm and a maximum counterforce of 1.1 N. An additional force of 0.7 N per pin can be applied with the motors. This technique allows for simultaneous stimulation of kinesthetic as well as tactile perception. The control of the haptic display has been implemented in the open-source haptics library CHAI 3D. We extended the framework with a multi interaction point tool to represent the hardware. This eventually lead to a palpation training program where bodies with multiple adjustable parameters encapsulated in a virtual soft tissue can be simulated. We evaluated this software in a user study with 15 participants in order to demonstrate the usability of the haptic display. With 90 % of successful hits, we are confident that sensible haptic feedback can be generated with the presented device. Furthermore, we are currently extending the scope of the haptic display to make use of a novel capacitive tactile proximity sensor in exploration scenarios.

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Telemanipulation with force-based display of proximity fields

Cited by 8 publications

References 18 publications

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Integrated control of a multiple-degree-of-freedom hand and arm using a reactive architecture based on high-speed proximity sensing

A haptic display for tactile and kinesthetic feedback in a CHAI 3D palpation training scenario

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