Bond graph modelling for haptic interface robot control

Simulation of the Admittance Control Based Haptic Interface Device

Bond graph Based Approach To Passive Teleoperation Of A Hydraulic Backhoe

Human operated, hydraulic actuated machines are widely used in many high-power applications. Improving productivity, safety and task quality (eg. haptic feedback in a teleoperated scenario) has been the focus of past research. For robotic systems that interact with the physical environments, passivity is a useful property for ensuring safety and interaction stability. While passivity is a well ...

Human-Scale Bimanual Haptic Interface

This article presents a haptic system for bimanual haptic feedback that is composed of two light-weight robot arms. The system has a workspace and force capabilities similar to that of two human arms. Sophisticated control strategies are implemented to enable using this system as haptic interface. Depending on the requirements of the task one of three different handles can connect the human han...

Mixed Control of Multi-fingered Haptic Interface Robot with Operator’s Uneasy Feeling in Mind

Abstract— This paper presents a mixed control of multi-fingered haptic interface robot consisting of a 6 DOF arm and a 15 DOF hand. The interface is placed opposite the human hand and presents force and tactile feeling to the fingertips. In order to reduce the uneasy feeling in the operator, a mixed control consisting of a finger force control and an arm position control intended to maximize th...

Connecting Haptic Interface with a Robot

Specific issues of force-reflected telemanipulating systems are addressed in this article. Our approach that might be used in robotic assisted surgery is based on combination of the best and complementary characteristics of a human operator and of a robot. Simultaneously the operator uses his own judgement, manually guides the slave robot, while the master robot (haptic interface) provides both...