NDLI: Connecting haptic interface with a robot

Content Provider	IEEE Xplore Digital Library
Author	Bardorfer, A. Munih, M.
Copyright Year	1998
Description	Author affiliation: Lab. of Biomed. Eng. & Robotics, Ljubljana Univ., Slovenia (Bardorfer, A.; Munih, M.)
Abstract	Specific issues of force-reflected telemanipulating systems are addressed in this article. The authors' approach that might be used in robotic assisted surgery is based on combination of the best and complementary characteristics of a human operator and of a robot. Simultaneously the operator uses his own judgement, manually guides the slave robot, while the master robot (haptic interface) provides both the geometric accuracy through software motion constraint and tactile feedback for the operator. A three degree of freedom (DOF (x, y, z)) force feedback telemanipulating system was built. It is based on the PHANTOM Premium 1.5 haptic interface acting as a master and the ASEA IRb 6 industrial robot acting as a slave robot arm. A new control scheme was introduced, the position-error-based force reflection scheme with variable gain. This method was used for the "tele-drilling" experiment carried out on various hard and soft materials including aluminium, wood, bone and soap. The geometric accuracy and fixation along the z axis of drilling were achieved by a cylindrical motion constraint in software of a master robot arm.
Starting Page	1202
Ending Page	1205
File Size	526193
Page Count	4
File Format	PDF
ISBN	078036290X
DOI	10.1109/MELCON.2000.879751
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-05-29
Publisher Place	Cyprus
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joining processes Haptic interfaces Master-slave Service robots Surgery Humans Force feedback Imaging phantoms Electrical equipment industry Force control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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