This work develops a connectionist memory model for a service robot that satisfies a number of desiderata: associativity, vagueness, approximation, robustness, distribution and parallelism. A biologically inspired and mathematically sound theory of a highly distributed and sparse memory serves as the basis for this work. The so-called sparse distributed memory (SDM), developed by P. Kanerva, co...

This paper (Part I1 of 11) surveys the existing touch display technologies in the literature. This survey indicates 5 main approaches to touch feedback, involving visual, pneumatic, vibro-tactile, electro-tactile and Neuromuscular stimulations. A pneumatics approach could use air-jets, air pockets or inflatable bladders to provide touch feedback cues to the operator. Similarly, the vibro-tactil...

S. SAMADZADE, M.H. KORAYEM, N.SARLI, M. ZAREINEJAD Department of Mechatronics, Islamic Azad University -Science and Research Branch,Tehran, Iran Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran New Technologies Research Center, Amirkabir University of Technolo...

This paper describes and evaluates a high-fidelity, low-cost haptic interface for teleoperation. The interface is a wearable vibrotactile glove containing miniature voice coils that provides continuous, proportional force information to the user's fingertips. In psychophysical experiments, correlated variations in the frequency and amplitude of the stimulators extended the user's perceptual res...

Teleoperators using an intermediate functional representation of the remote real environment (R E), sufler a lack of its accurate synthetic modeling. Indeed, discrepancies will always occur between the RE and, let’s say, its artificial representation by means of vzrtual environment (VE). A strategy to deal with VE/RE uncertainties based mainly on sensory level interpretation is presented. It is...

This paper describes a design technique for simultaneously increasing the transparency bandwidth and stability robustness of a two-channel position-force bilateral teleoperation architecture. Specifically, the stability and performance enhancements are obtained by introducing a dynamic compensator into the system to shape the frequency-domain properties of the human-teleoperatorenvironment loop...

We present a new tactile display for use in dexterous telemanipulation and virtual reality. Our system renders the location of the contact centroid moving on the user’s fingertip. Constructed in a thimble-sized package and mounted on a haptic force-feedback device, it provides the user with concurrent feedback of contact location and interaction forces.We believe such a design will enable more ...

This paper presents the clinical motivation, design specifications, kinematics, statics, and actuation compensation for a newly constructed telerobotic system for Minimally Invasive Surgery (MIS) of the throat. A hybrid dual-arm telesurgical slave, with twenty joint-space Degrees of Freedom (DoF), is used in this telerobotic system to provide the necessary dexterity in deep surgical fields such...

Minimally invasive mitral valve surgery (MIMVS) was introduced in the mid-1990s to refer to a variety of surgical techniques that avoid full sternotomy through smaller or alternative chest wall incisions, as an attempt to reduce complications, but at the same time preserve outcomes of the full sternotomy approach. In this review, different aspects of MIMVS are discussed in relation to its appro...

The possibility of operating in remote environments by means of telecontrolled systems has always been considered of relevant interest in robotics. For this reason, in the literature a number of different control schemes has been proposed for telemanipulation systems, based on several criteria such as passivity, compliance, predictive or adaptive control, etc. In each scheme, major concerns hav...