NDLI: A Tele-operation system based on haptic feedback

Content Provider	IEEE Xplore Digital Library
Author	Gang Song Shuxiang Guo Qiang Wang
Copyright Year	2006
Description	Author affiliation: Dept. of Intell. Mech. Syst. Eng'g, Kagawa Univ., Takamatsu (Gang Song; Shuxiang Guo; Qiang Wang)
Abstract	A novel master-slave tele-operation system is proposed in this paper. Different from the general tele-operation system, besides the CCD camera feedback is included in the system; the real-time haptic feedback is also used to control the robot arm in the distance. The system mainly consists of two parts, the master system and the slave system. The master system includes a haptic device (PHANTOM Omni), and the slave system includes a 6-DOF robot arm equipped with a CCD camera and a 3-DOF force sensor. The equivalent force acts on the robot arm will be exerted to the stylus of the haptic device, so the operator can adjust the position and direction of the robot arm in the distance according to the haptic feedback to the manipulator's hand. Two preliminary experiments have been performed to appraise the performance of the system. The experimental results indicate that the system has good operability and good performance on position tracking, and it is expected to be applied in the tele-surgical operation in the future.
Starting Page	1127
Ending Page	1131
File Size	3188369
Page Count	5
File Format	PDF
ISBN	1424405289
DOI	10.1109/ICIA.2006.305903
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-08-20
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Charge coupled devices Real time systems Tele-operation Robot vision systems Force feedback Haptic feedback Master-slave Haptic interfaces Force sensors Robot sensing systems Cameras 6-DOF robot arm PHANTOM Omni Charge-coupled image sensors
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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
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