NDLI: Wide-area haptic guidance: Taking the user by the hand

Content Provider	IEEE Xplore Digital Library
Author	Perez Arias, A. Hanebeck, U.D.
Copyright Year	2010
Description	Author affiliation: Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Institute for Anthropomatics, Karlsruhe Institute of Technology (KIT), Germany (Perez Arias, A.; Hanebeck, U.D.)
Abstract	In this paper, we present a novel use of haptic information in extended range telepresence, the wide-area haptic guidance. It consists of force and position signals applied to the user's hand in order to improve safety, accuracy, and speed in some telepresent tasks. Wide-area haptic guidance assists the user in reaching a desired position in a remote environment of arbitrary size without degrading the feeling of presence. Several methods for haptic guidance are analyzed. With active haptic guidance, the user is guided by superimposed forces that pull him into the desired direction of motion, whereas under passive haptic guidance, the movement of the user is lightened in the preferred direction and constrained in the other directions. By using closed-loop haptic guidance instead of open-loop haptic guidance, not only is the user guided to his target but also the deviation from the desired target path is reduced. The proposed guidance methods were tested with a haptic interface specifically designed for extended range telepresence.
Starting Page	5824
Ending Page	5829
File Size	2289141
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5654382
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Force Manipulators Visualization Humans Teleoperators
Content Type	Text
Resource Type	Article

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