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VR-OOS: The DLR's virtual reality simulator for telerobotic on-orbit servicing with haptic feedback

Mikel Sagardia, Katharina Hertkorn, Thomas Hulin, Simon Schatzle, Robin Wolff, Johannes Hummel, Janki Dodiya, Andreas Gerndt
2015 2015 IEEE Aerospace Conference  
The implementations are presented in detail and the performance of the overall system is validated.  ...  The system can be used for verification and training purposes for human and robot systems interacting in space.  ...  To this end, an analytical stability analysis has been conducted [38] and recently complemented by an optimal control approach [39] .  ... 
doi:10.1109/aero.2015.7119040 fatcat:i7u5rdg3crdrld3pyhn3nodmn4

Haptic feedback in the da Vinci Research Kit (dVRK): a user study based on grasping, palpation and incision tasks

A. Saracino, A. Deguet, F. Staderini, M.N. Boushaki, F. Cianchi, A. Menciassi, E. Sinibaldi
2019 International Journal of Medical Robotics and Computer Assisted Surgery  
It was suggested that the lack of haptic feedback, formerly considered a limitation for the da Vinci robotic system, does not affect robotic surgeons because of training and compensation based on visual  ...  We designed tissue grasping, palpation, and incision tasks with robotic surgeons, to be performed by three groups of users (expert surgeons, medical residents, and nonsurgeons, five users/group), either  ...  Sabatini and Dr A. Mannini  ... 
doi:10.1002/rcs.1999 pmid:30970387 fatcat:lmokbyqugvgojng7twrhzvw3ni

Telerehabilitation robotics: Bright lights, big future?

Craig R. Carignan, Hermano I. Krebs
2006 Journal of rehabilitation research and development  
The state of the art is exemplified by several Internet applications, and we explore the current trends in developing new systems.  ...  Some promising results for a new bilateral system involving two InMotion2 robots are presented.  ...  Stability and performance are both addressed directly when impedance control is used for controller design [28] .  ... 
doi:10.1682/jrrd.2005.05.0085 fatcat:qgjsurr6vngbzauk7dhjbpht2y

Haptic Data Reduction and Protection in Multimodal Virtual Environments

Nizar Sakr, Université D'Ottawa / University Of Ottawa, Université D'Ottawa / University Of Ottawa
The focus of the first topic is on the design, evaluation, and analysis of haptic data reduction techniques in order to: (1) Improve packet transmission in telehaptic systems, and (2) reduce the dimensionality  ...  In the former case, robust perception-based data reduction methods in 3- and 6-degree-of-freedom telehaptic systems are derived.  ...  Moreover, this concept is commonly used to stabilize haptic presence systems in telepresence architectures.  ... 
doi:10.20381/ruor-20092 fatcat:ufqppj3t6vbnljydfvdeopreci

Generative Models for Learning Robot Manipulation Skills from Humans

Ajay Kumar Tanwani
Modern day teleoperation systems use additional interfaces such as exoskeleton and/or head mounted display to increase the sense of telepresence in performing the task [Sheridan 1995 .  ...  High Level Architecture Our high level architecture of controlling distant robots by semi-autonomous teleoperation consists of two modules: cognitive engine and proxy cognitive engine.  ...  For the infinite horizon case in shared control with Q t = Q, T → ∞ and the desired poseμ t =μ t 0 , the control law is obtained by eigendecomposition of the discrete algebraic Riccati equation.  ... 
doi:10.5075/epfl-thesis-8320 fatcat:s2oinfmbyvcjbpw7vnpmzbth3a

Applications of synergies in human machine interfaces [article]

Ramana Vinjamuri, Zhi-Hong Mao, Anil Maybhate, Maryland Shared Open Access Repository
These synergies have helped researchers to understand the neural mechanisms behind human movement planning and control.  ...  This biologically inspired concept of synergies has found important applications in rehabilitation, rehab robotics, prosthetics and exoskeletons, brain machine interfaces and human machine interfaces.  ...  JM acknowledges Spanish Education Ministry for a FPU grant (AP2010-3460). BB thanks Fundación Séneca for an R&D, Innovation and Technology Transfer grant.  ... 
doi:10.13016/m2xacu-wb2c fatcat:2u7oliilwjcehkgozhyhkougzm