Virtual reality application for direct-drive robot with force feedback
Identifieur interne : 001184 ( PascalFrancis/Corpus ); précédent : 001183; suivant : 001185Virtual reality application for direct-drive robot with force feedback
Auteurs : M.-G. Her ; K.-S. Hsu ; T.-S. LanSource :
- International journal, advanced manufacturing technology [ 0268-3768 ] ; 2003.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
Abstract
Most of the current virtual reality systems use geometric models and non-sensing robots for simulation, which cannot provide an insight into the real operation of the task. In this paper, we present a new type of telerobotics based on the haptic virtual reality (VR) approach for simulating hitting a ball with force feedback attached to a human arm. The main components of the approach include a user interface, simulation, and a robot control scheme. The user interface is implemented as a combination of a virtual paddle and a graphic interface. The human operator manipulates a direct-drive type handler in the simulated environment, and the environment is simulated by the haptic virtual system that enables the operator to feel the actual force feedback from the virtual environment just as she/he would from the real environment. The haptic virtual system integrates the dynamics of the direct-drive active paddle and the virtual environment. whereas the paddle actuator consists of the dynamics of the paddle and the operator on the physical side. The control scheme employs a dynamic controller that is designed considering the force from the operator imposed on the paddle, and the force from the environment imposed on the paddle and feedback to the human arm. Experiments in the virtual environment on hitting a virtual ball system are used to validate the theoretical developments.
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Format Inist (serveur)
| NO : | PASCAL 03-0203395 INIST |
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| ET : | Virtual reality application for direct-drive robot with force feedback |
| AU : | HER (M.-G.); HSU (K.-S.); LAN (T.-S.) |
| AF : | Department of Mechanical Engineering, Tatung University/Taipei/Taïwan (1 aut.); Department of Automation Engineering, Kao Yuan Institute of Technology/Lu-Chu Hsiang, Kaohsiung/Taïwan (2 aut.); Department of Mechanical Engineering, De Lin Institute of Technology/Tuchen/Taïwan (3 aut.) |
| DT : | Publication en série; Niveau analytique |
| SO : | International journal, advanced manufacturing technology; ISSN 0268-3768; Royaume-Uni; Da. 2003; Vol. 21; No. 1; Pp. 66-71; Bibl. 13 ref. |
| LA : | Anglais |
| EA : | Most of the current virtual reality systems use geometric models and non-sensing robots for simulation, which cannot provide an insight into the real operation of the task. In this paper, we present a new type of telerobotics based on the haptic virtual reality (VR) approach for simulating hitting a ball with force feedback attached to a human arm. The main components of the approach include a user interface, simulation, and a robot control scheme. The user interface is implemented as a combination of a virtual paddle and a graphic interface. The human operator manipulates a direct-drive type handler in the simulated environment, and the environment is simulated by the haptic virtual system that enables the operator to feel the actual force feedback from the virtual environment just as she/he would from the real environment. The haptic virtual system integrates the dynamics of the direct-drive active paddle and the virtual environment. whereas the paddle actuator consists of the dynamics of the paddle and the operator on the physical side. The control scheme employs a dynamic controller that is designed considering the force from the operator imposed on the paddle, and the force from the environment imposed on the paddle and feedback to the human arm. Experiments in the virtual environment on hitting a virtual ball system are used to validate the theoretical developments. |
| CC : | 001D02D11; 001D02B04 |
| FD : | Robotique; Téléopération; Interface utilisateur; Interface graphique; Sensibilité tactile; Réalité virtuelle; Opérateur humain; Rétroaction; Infographie |
| ED : | Robotics; Remote operation; User interface; Graphical interface; Tactile sensitivity; Virtual reality; Human operator; Feedback regulation; Computer graphics |
| SD : | Robótica; Teleacción; Interfase usuario; Interfaz grafica; Sensibilidad tactil; Realidad virtual; Operador humano; Retroacción; Gráfico computadora |
| LO : | INIST-22178.354000110770890080 |
| ID : | 03-0203395 |
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Pascal:03-0203395Le document en format XML
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Lan</name><affiliation><inist:fA14 i1="03"><s1>Department of Mechanical Engineering, De Lin Institute of Technology</s1><s2>Tuchen</s2><s3>TWN</s3><sZ>3 aut.</sZ></inist:fA14></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">03-0203395</idno><date when="2003">2003</date><idno type="stanalyst">PASCAL 03-0203395 INIST</idno><idno type="RBID">Pascal:03-0203395</idno><idno type="wicri:Area/PascalFrancis/Corpus">001184</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Virtual reality application for direct-drive robot with force feedback</title><author><name sortKey="Her, M G" sort="Her, M G" uniqKey="Her M" first="M.-G." last="Her">M.-G. Her</name><affiliation><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Tatung University</s1><s2>Taipei</s2><s3>TWN</s3><sZ>1 aut.</sZ></inist:fA14></affiliation></author><author><name sortKey="Hsu, K S" sort="Hsu, K S" uniqKey="Hsu K" first="K.-S." last="Hsu">K.-S. Hsu</name><affiliation><inist:fA14 i1="02"><s1>Department of Automation Engineering, Kao Yuan Institute of Technology</s1><s2>Lu-Chu Hsiang, Kaohsiung</s2><s3>TWN</s3><sZ>2 aut.</sZ></inist:fA14></affiliation></author><author><name sortKey="Lan, T S" sort="Lan, T S" uniqKey="Lan T" first="T.-S." last="Lan">T.-S. Lan</name><affiliation><inist:fA14 i1="03"><s1>Department of Mechanical Engineering, De Lin Institute of Technology</s1><s2>Tuchen</s2><s3>TWN</s3><sZ>3 aut.</sZ></inist:fA14></affiliation></author></analytic><series><title level="j" type="main">International journal, advanced manufacturing technology</title><title level="j" type="abbreviated">Int. j. adv. manuf. technol.</title><idno type="ISSN">0268-3768</idno><imprint><date when="2003">2003</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">International journal, advanced manufacturing technology</title><title level="j" type="abbreviated">Int. j. adv. manuf. technol.</title><idno type="ISSN">0268-3768</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Computer graphics</term><term>Feedback regulation</term><term>Graphical interface</term><term>Human operator</term><term>Remote operation</term><term>Robotics</term><term>Tactile sensitivity</term><term>User interface</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term><term>Téléopération</term><term>Interface utilisateur</term><term>Interface graphique</term><term>Sensibilité tactile</term><term>Réalité virtuelle</term><term>Opérateur humain</term><term>Rétroaction</term><term>Infographie</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Most of the current virtual reality systems use geometric models and non-sensing robots for simulation, which cannot provide an insight into the real operation of the task. In this paper, we present a new type of telerobotics based on the haptic virtual reality (VR) approach for simulating hitting a ball with force feedback attached to a human arm. The main components of the approach include a user interface, simulation, and a robot control scheme. The user interface is implemented as a combination of a virtual paddle and a graphic interface. The human operator manipulates a direct-drive type handler in the simulated environment, and the environment is simulated by the haptic virtual system that enables the operator to feel the actual force feedback from the virtual environment just as she/he would from the real environment. The haptic virtual system integrates the dynamics of the direct-drive active paddle and the virtual environment. whereas the paddle actuator consists of the dynamics of the paddle and the operator on the physical side. The control scheme employs a dynamic controller that is designed considering the force from the operator imposed on the paddle, and the force from the environment imposed on the paddle and feedback to the human arm. Experiments in the virtual environment on hitting a virtual ball system are used to validate the theoretical developments.</div></front></TEI><inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0268-3768</s0></fA01><fA03 i2="1"><s0>Int. j. adv. manuf. technol.</s0></fA03><fA05><s2>21</s2></fA05><fA06><s2>1</s2></fA06><fA08 i1="01" i2="1" l="ENG"><s1>Virtual reality application for direct-drive robot with force feedback</s1></fA08><fA11 i1="01" i2="1"><s1>HER (M.-G.)</s1></fA11><fA11 i1="02" i2="1"><s1>HSU (K.-S.)</s1></fA11><fA11 i1="03" i2="1"><s1>LAN (T.-S.)</s1></fA11><fA14 i1="01"><s1>Department of Mechanical Engineering, Tatung University</s1><s2>Taipei</s2><s3>TWN</s3><sZ>1 aut.</sZ></fA14><fA14 i1="02"><s1>Department of Automation Engineering, Kao Yuan Institute of Technology</s1><s2>Lu-Chu Hsiang, Kaohsiung</s2><s3>TWN</s3><sZ>2 aut.</sZ></fA14><fA14 i1="03"><s1>Department of Mechanical Engineering, De Lin Institute of Technology</s1><s2>Tuchen</s2><s3>TWN</s3><sZ>3 aut.</sZ></fA14><fA20><s1>66-71</s1></fA20><fA21><s1>2003</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA43 i1="01"><s1>INIST</s1><s2>22178</s2><s5>354000110770890080</s5></fA43><fA44><s0>0000</s0><s1>© 2003 INIST-CNRS. All rights reserved.</s1></fA44><fA45><s0>13 ref.</s0></fA45><fA47 i1="01" i2="1"><s0>03-0203395</s0></fA47><fA60><s1>P</s1></fA60><fA61><s0>A</s0></fA61><fA64 i1="01" i2="1"><s0>International journal, advanced manufacturing technology</s0></fA64><fA66 i1="01"><s0>GBR</s0></fA66><fC01 i1="01" l="ENG"><s0>Most of the current virtual reality systems use geometric models and non-sensing robots for simulation, which cannot provide an insight into the real operation of the task. In this paper, we present a new type of telerobotics based on the haptic virtual reality (VR) approach for simulating hitting a ball with force feedback attached to a human arm. The main components of the approach include a user interface, simulation, and a robot control scheme. The user interface is implemented as a combination of a virtual paddle and a graphic interface. The human operator manipulates a direct-drive type handler in the simulated environment, and the environment is simulated by the haptic virtual system that enables the operator to feel the actual force feedback from the virtual environment just as she/he would from the real environment. The haptic virtual system integrates the dynamics of the direct-drive active paddle and the virtual environment. whereas the paddle actuator consists of the dynamics of the paddle and the operator on the physical side. The control scheme employs a dynamic controller that is designed considering the force from the operator imposed on the paddle, and the force from the environment imposed on the paddle and feedback to the human arm. 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In this paper, we present a new type of telerobotics based on the haptic virtual reality (VR) approach for simulating hitting a ball with force feedback attached to a human arm. The main components of the approach include a user interface, simulation, and a robot control scheme. The user interface is implemented as a combination of a virtual paddle and a graphic interface. The human operator manipulates a direct-drive type handler in the simulated environment, and the environment is simulated by the haptic virtual system that enables the operator to feel the actual force feedback from the virtual environment just as she/he would from the real environment. The haptic virtual system integrates the dynamics of the direct-drive active paddle and the virtual environment. whereas the paddle actuator consists of the dynamics of the paddle and the operator on the physical side. The control scheme employs a dynamic controller that is designed considering the force from the operator imposed on the paddle, and the force from the environment imposed on the paddle and feedback to the human arm. Experiments in the virtual environment on hitting a virtual ball system are used to validate the theoretical developments.</EA><CC>001D02D11; 001D02B04</CC><FD>Robotique; Téléopération; Interface utilisateur; Interface graphique; Sensibilité tactile; Réalité virtuelle; Opérateur humain; Rétroaction; Infographie</FD><ED>Robotics; Remote operation; User interface; Graphical interface; Tactile sensitivity; Virtual reality; Human operator; Feedback regulation; Computer graphics</ED><SD>Robótica; Teleacción; Interfase usuario; Interfaz grafica; Sensibilidad tactil; Realidad virtual; Operador humano; Retroacción; Gráfico computadora</SD><LO>INIST-22178.354000110770890080</LO><ID>03-0203395</ID></server></inist></record>Pour manipuler ce document sous Unix (Dilib)
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