Control and Virtual Reality Simulation of Tendon Driven Mechanisms

The Control of Tendon-Driven Dexterous Hands with Joint Simulation

An adaptive impedance control algorithm for tendon-driven dexterous hands is presented. The main idea of this algorithm is to compensate the output of the classical impedance control by an offset that is a proportion-integration-differentiation (PID) expression of force error. The adaptive impedance control can adjust the impedance parameters indirectly when the environment position and stiffne...

Wheelchair Simulation in Virtual Reality

Research Background This recently completed research project has resulted in the development of a wheelchair motion platform which, in conjunction with a virtual reality facility, can be used to address issues of accessibility in the built environment. This venture represents a collaborative effort between architects, bioengineers and user groups and has investigated topics related to platform ...

Humanoid Robotic Language and Virtual Reality Simulation

Simulation and Virtual Reality in Surgical Education

R apid change is under way on several fronts in medicine and surgery. Advances in computing power have enabled continued growth in virtual reality, visualization, and simulation technologies. The ideal learning opportunities afforded by simulated and virtual environments have prompted their exploration as learning modalities for surgical education and training. Ongoing improvements in this tech...

Virtual Reality Based Robot Graphic Simulation and Virtual Manufacturing System

This paper reports research into an interface between industry robots and Virtual Reality systems and creates a virtual robot for robot arm simulation, control language conversion, physical communication, robot networking and teleoperation control. The paper is based on an integrated manufacturing networking software which includes a PUMA robot, a Lansing welding robot, and CNC machines. The ai...