Real-time proximity cues for teleoperation using model-based force reflection

Guy Bruno; Matthew K. Morgenthaler

doi:10.1117/12.56771

1 March 1992 Real-time proximity cues for teleoperation using model-based force reflection

Guy Bruno; Matthew K. Morgenthaler

Author Affiliations +

Proceedings Volume 1612, Cooperative Intelligent Robotics in Space II; (1992) https://doi.org/10.1117/12.56771
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

The problem of providing model-based proximity cues using force reflection for teleoperation under time delay is addressed. A novel use of artificial potential fields is proposed as a teleoperator aid to efficiently provide a predictive tactile display. Several new artificial potential models are presented which are used to convey accurate shape and proximity information by generating handcontroller forces based on the potential gradient. These new potential gradients are shown to have an efficient implementation via exact computation as a neural network. A real-time prototype implementation and integration with Martin Marietta's teleautonomous testbed is discussed. Evaluations are made with human operators performing tasks using industrial manipulators under time delay scenarios.

Citation Download Citation

Guy Bruno, Guy Bruno, Matthew K. Morgenthaler, Matthew K. Morgenthaler, } "Real-time proximity cues for teleoperation using model-based force reflection", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56771; https://doi.org/10.1117/12.56771

ACCESS THE FULL ARTICLE

PERSONAL SIGN IN
Full access may be available with your subscription

Email or Username Forgot your username?

Password Forgot your password?

Show

Remember Email/Username on this computer

Remember Password

No SPIE account? Create an account
or Institutional Sign In via Shibboleth

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $14.40

Non-members: $18.00 ADD TO CART

Show All Keywords

Keywords/Phrases

Search In:

Publication Years