NDLI: Integrating force and vision feedback within virtual environments for telerobotic systems

Content Provider	IEEE Xplore Digital Library
Author	Nelson, B.J. Khosla, P.K.
Copyright Year	1997
Description	Author affiliation: Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA (Nelson, B.J.)
Abstract	Traditional telerobotic systems often provide feedback to the user through a variety of sensing modalities, for example through live video imagery, force reflection, or acoustic signals. When a supervisor guides a robotic task while immersed in a virtual environment, geometric representations of the world are provided as feedback. In this case, the supervisor interacts with the environment by visually observing these virtual objects and directing their motion. At issue is how to appropriately use various sensing modalities provided by disparate sensors in a system of this configuration. This paper focuses on assimilating the disparate feedback provided by force and vision sensors for telerobotic systems guided from within virtual environments. A framework for feedback assimilation is described based on the concept of sensor resolvability. Sensor resolvability is used in two ways, to update the virtual environment and to guide the desired task in the real world. Resolvability selects the appropriate sensing modality to use in updating the virtual environment within which the supervisor is immersed. It is also used to direct semi-autonomous agents that interact directly with the real world to perform the desired task. Experimental results demonstrate the significant advantages of assimilating disparate sensory feedback throughout a telerobotic task using the concept of sensor resolvability.
Starting Page	1588
Ending Page	1593
File Size	815253
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.614367
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force feedback Telerobotics Virtual environment Force sensors Sensor systems Solid modeling Mechanical engineering Reflection Robot sensing systems Sensor phenomena and characterization
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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