HapticV1, PascalFrancis, Corpus, bibRecord, 001055

Augmentation of manipulation capabilities of persons with disabilities using scaled teleoperation

Identifieur interne : 001055 ( PascalFrancis/Corpus ); précédent : 001054; suivant : 001056

Augmentation of manipulation capabilities of persons with disabilities using scaled teleoperation

Auteurs : Norali P. Pernalete ; WENTAO YU ; Rajiv V. Dubey ; Wilfrido A. Moreno

Source :

RBID : Pascal:04-0196993

Descripteurs français

Pascal (Inist)
- Fiabilité, Manipulateur, Robotique, Temps exécution, Manipulation, Téléopération, Télérobotique, Homme, Méthode variable complexe, Sensibilité tactile, Assistance utilisateur, Handicap physique.

English descriptors

KwdEn :
- Complex variable method, Execution time, Human, Manipulation, Manipulator, Physical handicap, Reliability, Remote operation, Robotics, Tactile sensitivity, Telerobotics, User assistance.

Abstract

This paper describes several assistance approaches to use complex and variable Telerobotic mapping, such that limited and irregular inputs from an individual with disabilities are mapped into complex motions. The approach presented implies several forms of assistance functions in which the human input is enhanced rather than superseded by the computer. Some complex tasks in the slave manipulator can be implemented through simple and restricted movements on the master's side coming from a person with restricted dexterity. Three different tasks were chosen to implement the assistance functions designed to augment the teleoperation performance of motion-impaired users. A comparison is made between the implementation of the constraints on the Master and the Slave sides of the system. The system used consisted of the Phantom haptic device and the RRC (Robotics Research Corporation) seven-degree-of-freedom manipulator. The results demonstrated that the forms of assistance provided not only allowed users to perform complex tasks, but also, reduced the execution times and increased the operation accuracy of the chosen tasks.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 Augmentation of manipulation capabilities of persons with disabilities using scaled teleoperation`
A09	`01`	`1`	`ENG`	`@1 2002 IEEE/RSJ international conference on intelligent robots and systems : Lausanne, 30 September - 4 October 2002`
A11	`01`	`1`		`@1 PERNALETE (Norali P.)`
A11	`02`	`1`		`@1 WENTAO YU`
A11	`03`	`1`		`@1 DUBEY (Rajiv V.)`
A11	`04`	`1`		`@1 MORENO (Wilfrido A.)`
A14	`01`			`@1 Western Michigan University @2 Kalamazoo, Michigan @3 USA @Z 1 aut.`
A14	`02`			`@1 University of South Florida @2 Tampa, Florida @3 USA @Z 2 aut. @Z 3 aut. @Z 4 aut.`
A18	`01`	`1`		`@1 IEEE Robotics and Automation Society @3 USA @9 patr.`
A18	`02`	`1`		`@1 IEEE Industrial Elelctronics Society @3 USA @9 patr.`
A18	`03`	`1`		`@1 Robotics Society of Japan @3 JPN @9 patr.`
A18	`04`	`1`		`@1 Society of Instruments and Control Engineers @3 INC @9 patr.`
A18	`05`	`1`		`@1 INRIA Rhône-Alpes @2 Grenoble @3 FRA @9 patr.`
A18	`06`	`1`		`@1 EPFL @2 Lausanne @3 CHE @9 patr.`
A20				`@1 1517-1522`
A21				`@1 2002`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
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A30	`01`	`1`	`ENG`	`@1 IROS 2002 : international conference on intelligent robots and systems @3 Lausanne CHE @4 2002-09-30`
A43	`01`			`@1 INIST @2 Y 37951 @5 354000117764172470`
A44				`@0 0000 @1 © 2004 INIST-CNRS. All rights reserved.`
A45				`@0 5 ref.`
A47	`01`	`1`		`@0 04-0196993`
A60				`@1 C`
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A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 This paper describes several assistance approaches to use complex and variable Telerobotic mapping, such that limited and irregular inputs from an individual with disabilities are mapped into complex motions. The approach presented implies several forms of assistance functions in which the human input is enhanced rather than superseded by the computer. Some complex tasks in the slave manipulator can be implemented through simple and restricted movements on the master's side coming from a person with restricted dexterity. Three different tasks were chosen to implement the assistance functions designed to augment the teleoperation performance of motion-impaired users. A comparison is made between the implementation of the constraints on the Master and the Slave sides of the system. The system used consisted of the Phantom haptic device and the RRC (Robotics Research Corporation) seven-degree-of-freedom manipulator. The results demonstrated that the forms of assistance provided not only allowed users to perform complex tasks, but also, reduced the execution times and increased the operation accuracy of the chosen tasks.
C02	`01`	`X`		`@0 001D02C03`
C02	`02`	`X`		`@0 001D02D11`
C03	`01`	`X`	`FRE`	`@0 Fiabilité @5 02`
C03	`01`	`X`	`ENG`	`@0 Reliability @5 02`
C03	`01`	`X`	`SPA`	`@0 Fiabilidad @5 02`
C03	`02`	`X`	`FRE`	`@0 Manipulateur @5 03`
C03	`02`	`X`	`ENG`	`@0 Manipulator @5 03`
C03	`02`	`X`	`SPA`	`@0 Manipulador @5 03`
C03	`03`	`X`	`FRE`	`@0 Robotique @5 04`
C03	`03`	`X`	`ENG`	`@0 Robotics @5 04`
C03	`03`	`X`	`SPA`	`@0 Robótica @5 04`
C03	`04`	`X`	`FRE`	`@0 Temps exécution @5 05`
C03	`04`	`X`	`ENG`	`@0 Execution time @5 05`
C03	`04`	`X`	`SPA`	`@0 Tiempo ejecución @5 05`
C03	`05`	`X`	`FRE`	`@0 Manipulation @5 11`
C03	`05`	`X`	`ENG`	`@0 Manipulation @5 11`
C03	`05`	`X`	`SPA`	`@0 Manipulación @5 11`
C03	`06`	`X`	`FRE`	`@0 Téléopération @5 12`
C03	`06`	`X`	`ENG`	`@0 Remote operation @5 12`
C03	`06`	`X`	`SPA`	`@0 Teleacción @5 12`
C03	`07`	`3`	`FRE`	`@0 Télérobotique @5 13`
C03	`07`	`3`	`ENG`	`@0 Telerobotics @5 13`
C03	`08`	`X`	`FRE`	`@0 Homme @5 14`
C03	`08`	`X`	`ENG`	`@0 Human @5 14`
C03	`08`	`X`	`SPA`	`@0 Hombre @5 14`
C03	`09`	`X`	`FRE`	`@0 Méthode variable complexe @5 16`
C03	`09`	`X`	`ENG`	`@0 Complex variable method @5 16`
C03	`09`	`X`	`SPA`	`@0 Método variable compleja @5 16`
C03	`10`	`X`	`FRE`	`@0 Sensibilité tactile @5 17`
C03	`10`	`X`	`ENG`	`@0 Tactile sensitivity @5 17`
C03	`10`	`X`	`SPA`	`@0 Sensibilidad tactil @5 17`
C03	`11`	`X`	`FRE`	`@0 Assistance utilisateur @5 19`
C03	`11`	`X`	`ENG`	`@0 User assistance @5 19`
C03	`11`	`X`	`SPA`	`@0 Asistencia usuario @5 19`
C03	`12`	`X`	`FRE`	`@0 Handicap physique @5 20`
C03	`12`	`X`	`ENG`	`@0 Physical handicap @5 20`
C03	`12`	`X`	`SPA`	`@0 Deficiencia física @5 20`
N21				`@1 131`
N82				`@1 PSI`

Format Inist (serveur)

NO :	PASCAL 04-0196993 INIST
ET :	Augmentation of manipulation capabilities of persons with disabilities using scaled teleoperation
AU :	PERNALETE (Norali P.); WENTAO YU; DUBEY (Rajiv V.); MORENO (Wilfrido A.)
AF :	Western Michigan University/Kalamazoo, Michigan/Etats-Unis (1 aut.); University of South Florida/Tampa, Florida/Etats-Unis (2 aut., 3 aut., 4 aut.)
DT :	Congrès; Niveau analytique
SO :	IROS 2002 : international conference on intelligent robots and systems/2002-09-30/Lausanne CHE; Etats-Unis; Piscataway NJ: IEEE; Da. 2002; Pp. 1517-1522; ISBN 0-7803-7398-7
LA :	Anglais
EA :	This paper describes several assistance approaches to use complex and variable Telerobotic mapping, such that limited and irregular inputs from an individual with disabilities are mapped into complex motions. The approach presented implies several forms of assistance functions in which the human input is enhanced rather than superseded by the computer. Some complex tasks in the slave manipulator can be implemented through simple and restricted movements on the master's side coming from a person with restricted dexterity. Three different tasks were chosen to implement the assistance functions designed to augment the teleoperation performance of motion-impaired users. A comparison is made between the implementation of the constraints on the Master and the Slave sides of the system. The system used consisted of the Phantom haptic device and the RRC (Robotics Research Corporation) seven-degree-of-freedom manipulator. The results demonstrated that the forms of assistance provided not only allowed users to perform complex tasks, but also, reduced the execution times and increased the operation accuracy of the chosen tasks.
CC :	001D02C03; 001D02D11
FD :	Fiabilité; Manipulateur; Robotique; Temps exécution; Manipulation; Téléopération; Télérobotique; Homme; Méthode variable complexe; Sensibilité tactile; Assistance utilisateur; Handicap physique
ED :	Reliability; Manipulator; Robotics; Execution time; Manipulation; Remote operation; Telerobotics; Human; Complex variable method; Tactile sensitivity; User assistance; Physical handicap
SD :	Fiabilidad; Manipulador; Robótica; Tiempo ejecución; Manipulación; Teleacción; Hombre; Método variable compleja; Sensibilidad tactil; Asistencia usuario; Deficiencia física
LO :	INIST-Y 37951.354000117764172470
ID :	04-0196993

Links to Exploration step

Pascal:04-0196993

Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper describes several assistance approaches to use complex and variable Telerobotic mapping, such that limited and irregular inputs from an individual with disabilities are mapped into complex motions. The approach presented implies several forms of assistance functions in which the human input is enhanced rather than superseded by the computer. Some complex tasks in the slave manipulator can be implemented through simple and restricted movements on the master's side coming from a person with restricted dexterity. Three different tasks were chosen to implement the assistance functions designed to augment the teleoperation performance of motion-impaired users. A comparison is made between the implementation of the constraints on the Master and the Slave sides of the system. The system used consisted of the Phantom haptic device and the RRC (Robotics Research Corporation) seven-degree-of-freedom manipulator. The results demonstrated that the forms of assistance provided not only allowed users to perform complex tasks, but also, reduced the execution times and increased the operation accuracy of the chosen tasks.</div>
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<fC01 i1="01" l="ENG"><s0>This paper describes several assistance approaches to use complex and variable Telerobotic mapping, such that limited and irregular inputs from an individual with disabilities are mapped into complex motions. The approach presented implies several forms of assistance functions in which the human input is enhanced rather than superseded by the computer. Some complex tasks in the slave manipulator can be implemented through simple and restricted movements on the master's side coming from a person with restricted dexterity. Three different tasks were chosen to implement the assistance functions designed to augment the teleoperation performance of motion-impaired users. A comparison is made between the implementation of the constraints on the Master and the Slave sides of the system. The system used consisted of the Phantom haptic device and the RRC (Robotics Research Corporation) seven-degree-of-freedom manipulator. The results demonstrated that the forms of assistance provided not only allowed users to perform complex tasks, but also, reduced the execution times and increased the operation accuracy of the chosen tasks.</s0>
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<s5>17</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>17</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>17</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Assistance utilisateur</s0>
<s5>19</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>User assistance</s0>
<s5>19</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Asistencia usuario</s0>
<s5>19</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Handicap physique</s0>
<s5>20</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Physical handicap</s0>
<s5>20</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Deficiencia física</s0>
<s5>20</s5>
</fC03>
<fN21><s1>131</s1>
</fN21>
<fN82><s1>PSI</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 04-0196993 INIST</NO>
<ET>Augmentation of manipulation capabilities of persons with disabilities using scaled teleoperation</ET>
<AU>PERNALETE (Norali P.); WENTAO YU; DUBEY (Rajiv V.); MORENO (Wilfrido A.)</AU>
<AF>Western Michigan University/Kalamazoo, Michigan/Etats-Unis (1 aut.); University of South Florida/Tampa, Florida/Etats-Unis (2 aut., 3 aut., 4 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IROS 2002 : international conference on intelligent robots and systems/2002-09-30/Lausanne CHE; Etats-Unis; Piscataway NJ: IEEE; Da. 2002; Pp. 1517-1522; ISBN 0-7803-7398-7</SO>
<LA>Anglais</LA>
<EA>This paper describes several assistance approaches to use complex and variable Telerobotic mapping, such that limited and irregular inputs from an individual with disabilities are mapped into complex motions. The approach presented implies several forms of assistance functions in which the human input is enhanced rather than superseded by the computer. Some complex tasks in the slave manipulator can be implemented through simple and restricted movements on the master's side coming from a person with restricted dexterity. Three different tasks were chosen to implement the assistance functions designed to augment the teleoperation performance of motion-impaired users. A comparison is made between the implementation of the constraints on the Master and the Slave sides of the system. The system used consisted of the Phantom haptic device and the RRC (Robotics Research Corporation) seven-degree-of-freedom manipulator. The results demonstrated that the forms of assistance provided not only allowed users to perform complex tasks, but also, reduced the execution times and increased the operation accuracy of the chosen tasks.</EA>
<CC>001D02C03; 001D02D11</CC>
<FD>Fiabilité; Manipulateur; Robotique; Temps exécution; Manipulation; Téléopération; Télérobotique; Homme; Méthode variable complexe; Sensibilité tactile; Assistance utilisateur; Handicap physique</FD>
<ED>Reliability; Manipulator; Robotics; Execution time; Manipulation; Remote operation; Telerobotics; Human; Complex variable method; Tactile sensitivity; User assistance; Physical handicap</ED>
<SD>Fiabilidad; Manipulador; Robótica; Tiempo ejecución; Manipulación; Teleacción; Hombre; Método variable compleja; Sensibilidad tactil; Asistencia usuario; Deficiencia física</SD>
<LO>INIST-Y 37951.354000117764172470</LO>
<ID>04-0196993</ID>
</server>
</inist>
</record>

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Augmentation of manipulation capabilities of persons with disabilities using scaled teleoperation

Augmentation of manipulation capabilities of persons with disabilities using scaled teleoperation

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