NDLI: Projected predictive Energy-Bounding Approach for multiple degree-of-freedom haptic teleoperation

Content Provider	Springer Nature Link
Author	Uddin, Riaz Park, Sangsoo Park, Sungjun Ryu, Jeha
Copyright Year	2016
Abstract	This paper presents a geometrically and dynamically transparent projected predictive Energy-Bounding Approach (EBA) for multiple degree-of-freedom (m-DOF) haptic teleoperation with time delays. The straightforward extension of a single-DOF teleoperation to m-DOF teleoperation suffers from a bad force distortion problem that becomes worse with the increase in communication time delays between master and slave sites. Due to this, geometry perception of remote m-DOF objects at master site is severely deteriorated. To solve this problem, a projected predictive m-DOF EBA is proposed by combining the m-DOF Predictive EBA and the projection method that can compensate the force distortion problem. The proposed approach also includes steps to get stably the information about the contact locations (geometry) of m-DOF remote objects without geometry detection sensors. In order to validate the proposed approach, some experiments performing surface contour-following are conducted using two Phantoms: (i) 2-DOF object (bobbin), and (ii) 3-DOF semi-spherical object in the presence of large time delays.
Starting Page	1561
Ending Page	1571
Page Count	11
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	14
Issue Number	6
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2016-10-25
Publisher Place	Bucheon, Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Energy-bounding approach multiple degree-of-freedom teleoperation transparency Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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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
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