The Feel of Virtual Mechanisms

Constantinescu, Daniela

doi:10.1007/978-1-4020-8200-9_10

Cited by 1 publication

(2 citation statements)

References 13 publications

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“…Use of haptic feedback in teleoperation of robots [2] and in virtual reality [3] has been the subject of research for many years. Teleoperation with haptic feedback provides a suitable framework for immersive demonstration of a task.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface

Ardakani

Karlsson

Nilsson

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Programming robots for tasks involving force interaction is difficult, since both the knowledge of the task and the dynamics of the robots are necessary. An immersive haptic interface for task demonstration is proposed, where the operator can sense and act through the robot. This is achieved by coupling two robotic systems with virtual constraints such that they have the same coordinates in the operational space disregarding a fixed offset. Limitations caused by the singular configurations or the reach of the robots are naturally reflected to either side as haptic feedback. *The research has received funding from the European Commission Horizon 2020 Framework Programme through the SOMA project (ICT645599), and from the VINNOVA project Kirurgens Perspektiv. The authors would like to thank Andreas Stolt, Cognibotics AB, for identifying the dynamics of the robot used in the experiments.

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Section: Introductionmentioning

confidence: 99%

“…Delays are detrimental to both transparency and stability and have been studied widely [15], [16], [17]. However, in teaching [18] or virtual reality scenarios [3], they could be neglected. The transparency is further limited by the structures of the master or the slave devices.…”

Section: Introductionmentioning

confidence: 99%