Haptic-Assisted SMMS Telemicromanipulation Using Virtual Fixture

Gilgueng Hwang; Hideki Hashimoto

doi:10.20965/jrm.2006.p0368

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JRM Vol.18 No.4 pp. 368-374

doi: 10.20965/jrm.2006.p0368

(2006)

Paper:

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Haptic-Assisted SMMS Telemicromanipulation Using Virtual Fixture

Gilgueng Hwang and Hideki Hashimoto

Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo, Japan

Received:

April 20, 2006

Accepted:

May 8, 2006

Published:

August 20, 2006

Keywords:

tele-micromanipulation, human-robot interaction, virtual fixture, haptic guidance, cooperative control

Abstract

The haptic-assisted user/robot-shared telemicromanipulation we propose uses learning different skill levels to improve operability. This research is expected to enhance teleoperation through haptic guidance based on a virtual fixture. Haptic guidance in the noncontact phase and novel feedback in the contact phase are integrated into a manipulation strategy to realize the haptic-assisted telemanipulation. We tested our proposed algorithms on a single-master multi-slave telemicromanipulation system using the task of improving user operability for user/robot-shared control. Pick-and-place experiments using salmon roe and styrene block model verify the feasibility of our haptic-assisted manipulation.

Cite this article as:

G. Hwang and H. Hashimoto, “Haptic-Assisted SMMS Telemicromanipulation Using Virtual Fixture,” J. Robot. Mechatron., Vol.18 No.4, pp. 368-374, 2006.

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References

[1] M. A. Peshkin, J. E. Colgate, W. Wannasuphoprasit, C. Moore, R. B. Gillespie, and P. Akella, “Cobot Architecture,” IEEE Transactions on Robotics and Automation, Vol.17, No.4, pp. 377-390, 2001.
[2] R. H. Taylor, and D. Stoianovici, “Medical Robotics in Computer-Integrated Surgery,” in IEEE Transactions on Robotics and Automation, 2003.
[3] G. Hwang, P. Szemes, N. Ando, and H. Hashimoto, “Development of Single-Master Multi-Slave Tele-Micromanipulator System,” in Proceedings of the 30th Annual Conference of the IEEE Industrial Electronics Society (IECON’04), Nov., 2004, Busan, Korea.
[4] J. J. Abbott, G. D. Hager, and A. M. Okamura, “Steady-Hand Teleoperation with Virtual Fixtures,” in Proceedings of the IEEE International Workshop on Robot and Human Interactive Communication, pp. 145-151, Millbrae, California, USA, Oct. 31-Nov. 2, 2003.
[5] D. Aarno, S. Ekvall, and D. Kragic, “Adaptive Virtual Fixtures for Machine-Assisted Teleoperation Tasks,” Barcelona, Spain, pp. 1151-1156, 2005.
[6] W. Yu, R. Alqasemi, R. Dubey, and N. Pernalete, “Telemanipulation Assistance Based on Motion Intention Recognition,” in Proc. of the IEEE Intl. Conf. of Robotics and Automation, Barcelona, Spain, pp. 1133-1138, 2005.
[7] N. Ando, P. Korondi, and H. Hashimoto, “Networked Telemicromanipulation Systems “Haptic Loupe”,” IEEE Transactions on Industrial Electronics, Vol.51, No.6, pp. 1259-1271, 2004.
[8] A. B. Kuang, S. Payandeh, B. Zheng, F. Henigman, and C. L. MacKenzie, “Assembling Virtual Fixture for Guidance in Training Environments.”
[9] J. J. Abbott, and A. M. Okamura, “Effects of Position Quantization and Sampling Rate on Virtual-Wall Passivity,” IEEE Transaction on Robotics, Vol.21, No.5, pp. 952-964, 2005.
[10] B. Bayart, A. Pocheville, and A. Kheddar, “An Adaptive Haptic Guidance Software Module for I-TOUCH: Example Through a Handwriting Teaching Simulation and a 3D Maze,” IEEE Intl. Workshop on Haptic Audio Visual Environment and Their Applications, Ottawa, Canada, 2005.
[11] W. Yu, R. Alqasemi, R. Dubey, and N. Pernalete, “Telemanipulation Assistance Based on Motion Intention Recognition,” in Proc. of the IEEE Intl. Conf. of Robotics and Automation, Barcelona, Spain, pp. 1133-1138, 2005.
[12] L. B. Rosenberg, “Virtual Fixtures: Perceptual Tools for Telerobotic Manipulation,” in Virtual Reality Annual International Symposium, 1993.
[13] G. Hwang, P. Szemes, N. Ando, and H. Hashimoto, “A Human-Robot Cooperative Tele-Micromanipulation System with Single-Master Multi-Slave Devices,” IEEE/ASME AIM2005, California, U.S.A., Jul., 2005.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. A. Peshkin, J. E. Colgate, W. Wannasuphoprasit, C. Moore, R. B. Gillespie, and P. Akella, “Cobot Architecture,” IEEE Transactions on Robotics and Automation, Vol.17, No.4, pp. 377-390, 2001.

[2] [2] R. H. Taylor, and D. Stoianovici, “Medical Robotics in Computer-Integrated Surgery,” in IEEE Transactions on Robotics and Automation, 2003.

[3] [3] G. Hwang, P. Szemes, N. Ando, and H. Hashimoto, “Development of Single-Master Multi-Slave Tele-Micromanipulator System,” in Proceedings of the 30th Annual Conference of the IEEE Industrial Electronics Society (IECON’04), Nov., 2004, Busan, Korea.

[4] [4] J. J. Abbott, G. D. Hager, and A. M. Okamura, “Steady-Hand Teleoperation with Virtual Fixtures,” in Proceedings of the IEEE International Workshop on Robot and Human Interactive Communication, pp. 145-151, Millbrae, California, USA, Oct. 31-Nov. 2, 2003.

[5] [5] D. Aarno, S. Ekvall, and D. Kragic, “Adaptive Virtual Fixtures for Machine-Assisted Teleoperation Tasks,” Barcelona, Spain, pp. 1151-1156, 2005.

[6] [6] W. Yu, R. Alqasemi, R. Dubey, and N. Pernalete, “Telemanipulation Assistance Based on Motion Intention Recognition,” in Proc. of the IEEE Intl. Conf. of Robotics and Automation, Barcelona, Spain, pp. 1133-1138, 2005.

[7] [7] N. Ando, P. Korondi, and H. Hashimoto, “Networked Telemicromanipulation Systems “Haptic Loupe”,” IEEE Transactions on Industrial Electronics, Vol.51, No.6, pp. 1259-1271, 2004.

[8] [8] A. B. Kuang, S. Payandeh, B. Zheng, F. Henigman, and C. L. MacKenzie, “Assembling Virtual Fixture for Guidance in Training Environments.”

[9] [9] J. J. Abbott, and A. M. Okamura, “Effects of Position Quantization and Sampling Rate on Virtual-Wall Passivity,” IEEE Transaction on Robotics, Vol.21, No.5, pp. 952-964, 2005.

[10] [10] B. Bayart, A. Pocheville, and A. Kheddar, “An Adaptive Haptic Guidance Software Module for I-TOUCH: Example Through a Handwriting Teaching Simulation and a 3D Maze,” IEEE Intl. Workshop on Haptic Audio Visual Environment and Their Applications, Ottawa, Canada, 2005.

[11] [11] W. Yu, R. Alqasemi, R. Dubey, and N. Pernalete, “Telemanipulation Assistance Based on Motion Intention Recognition,” in Proc. of the IEEE Intl. Conf. of Robotics and Automation, Barcelona, Spain, pp. 1133-1138, 2005.

[12] [12] L. B. Rosenberg, “Virtual Fixtures: Perceptual Tools for Telerobotic Manipulation,” in Virtual Reality Annual International Symposium, 1993.

[13] [13] G. Hwang, P. Szemes, N. Ando, and H. Hashimoto, “A Human-Robot Cooperative Tele-Micromanipulation System with Single-Master Multi-Slave Devices,” IEEE/ASME AIM2005, California, U.S.A., Jul., 2005.