This paper presents a new Haptic Rate-Position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing ta...

During visually guided movement, visual coordinates of target location must be transformed into coordinates appropriate for movement. To investigate the representation of this visuomotor coordinate transformation, we examined changes in pointing behavior induced by a local visuomotor remapping. The visual feedback of finger position was limited to one location within the workspace, at which a d...

Visuo-haptic augmented reality systems enable users to see and touch digital information that is embedded in the real world. Precise colocation of computer graphics and the haptic stylus is necessary to provide a realistic user experience. PHANToM haptic devices are often used in such systems to provide haptic feedback. They consist of two interlinked joints, whose angles define the position of...

Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple two-degree-of-freedom PKM dedicated to machining applications is led through this method: the common desired properties are the largest square Cartesian workspace for given kine...

This paper describes our design and implementation of an augmented table interface for small group meetings. The system was designed to be used by multiple users in the ubiquitous environment, where people do not need to bring their laptop PCs. With effective use of the advantage of computer vision, we implemented the concept of ubiquitous desktop as personal workspace and virtual Chinese table...

dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...

This paper describes our design and implementation of an augmented table system for face-to-face meetings. The system was designed to be used by multiple users in the ubiquitous environment, where people do not need to bring their laptop PCs. With effective use of the advantage of computer vision, we implemented the concept of ubiquitous desktop as personal workspace and virtual Chinese table a...

Teleoperation system performances suffer from the delays in the communications line. These delays are usually variable time delays. The customary wave variable technique used for constant time delays cannot provide satisfactory results to stabilize the system under variable delays. Another problem occurs in the position tracking performance of the limitedworkspace teleoperation systems. Althoug...

The concepts of pose, posture, formation and contortion are defined for serial, parallel and hybrid kinematic systems. Workspace and jointspace structure is examined in terms of these concepts. The inter-relationships of pose, posture, formation and contortion are explored for a range of robot workspace and jointspace types.