Mapping and calibration from a human hand to a robot hand pose a challenge due to their differences in kinematic structures. This paper uses the CyberGlove as the input device for telemanipulating an object with the thumb and the index finger of the Shadow Dexterous HandTM, with the focus not only on the position but also on the orientation of the thumb fingertip because it is found through exp...

Relaying spatially distributed forces promises to enhance the performance of telemanipulation systems. However, the proper way to render tactile information from the sensor to the display is not clear for current displays, where the user applies a constant contact force. We present a simple approach to rendering tactile information to improve performance in a lump localization task in a complia...

In this paper we survey the development of the wave variable concept and examine wave-based teleoperation. We study the behavior of force reflecting systems under unknown but constant transmission delays, ranging from periods less than the human reaction time to several seconds. Passive transmission procedures guarantee system stability, but wave reflections and spurious dynamics may interfere ...

Bilateral telemanipulation, which applies haptic feedback to the operator, is not yet available in most commercial robot-assisted surgical systems. We have shown in previous work that the lack of haptic (force or tactile) feedback is detrimental in applications requiring fine suture manipulation. In this paper, we study the effect of substituting direct haptic feedback with visual and auditory ...

Tactile displays are used to provide tactile feedback in telemanipulation or virtual reality. One aim in further developments is the miniaturisation of tactile displays for incorporation into dataand/or force feedback gloves. This enables the combination of tactile and kinesthetic feedback. A main disadvantage of many tactile displays with a large number of stimulator elements is their large vo...

The introduction of 3-D modeling with probabilistic encoding of occupancy state of space leaded to the development of powerful tools to generate rich representations of environments. But the sophistication of the modeling scheme introduces important concerns in the way such representations can be efficiently displayed to human operators for validation purpose and decision making in the guidance...

The fields of artificial reality and conventional telerobotics share many common technological challenges. In this paper we discuss the concept of applying techniques of virtual environment simulation to address some of the challenges of remote manipulation of teleoperated systems in unstructured environments, with a focus on remote excavation. We first present a taxonomy of factors for disting...

Much recent work has studied the means of achieving stable yet high performance control of haptic interfaces. Such interfaces provide compelling force feedback in virtual reality simulations for medical training, advanced computer aided design (CAD), entertainment, and other applications. This paper reports experimental testing of a new method of stable haptic interface control, the Passivity O...

We present a method for implementing “steadyhand control” on teleoperators where the master device is of the impedance type. Typical steady-hand systems are admittance controlled cooperative robots that can implement very high damping. Such systems are ideal for implementing guidance virtual fixtures, which are constraints in software that assist a user in moving a tool along preferred paths. O...