of Machines and Mechanisms (IFToMM'95) Milano, Italy, Aug. 29/Sept. 2, 1995 Workspace boundaries of Complex Robotic Mechanisms Viviane PASQUI and Philippe BIDAUD Laboratoire de Robotique de Paris 10-12, Avenue de l'Europe, 78 140 V elizy Villacoublay Abstract : This paper proposed a general method for the determination of the workspace boundaries of complex mechanisms. For that, the mechanism i...

We describe the implementation of a system which enables a user to interact with and modify an electronic holographic image using a force-feedback device. The force-feedback (or haptic) device is capable of sensing and reporting the 3D position of its hand-held stylus and displaying appropriate forces to the user. Thus, a user can feel and modify algorithmically specified shapes in the haptic w...

The present study focuses on geometric features of workspace and joint-space paths of three-dimensional reaching movements. Twelve subjects repeatedly performed a three-segment, triangular-shaped movement pattern in an approximately 60 degrees tilted horizontal plane. Task variables elicited movement patterns that varied in position, rotational direction and speed. Trunk, arm, hand and finger-t...

Here we report preliminary work on a gesturebased interface for robot guidance. The system requires no physical contact with the o p erator, but uses unca l ib ra ted s te reo vision with ac t ive con tours to track the position and pointing direction of a hand. With a g r o u n d p lane cons t ra in t , it is then possible to find the indicated position in the robot's workspace, by considering...

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of R with static obstacles. In particular, we propose a decentralized control protocol such that each agent reaches a predefined position at the workspace, while using only local information based on a limited sensing radius. The proposed scheme guarantees ...

In this paper, 3-PPR planar parallel manipulators with ∆or U-shape base are compared with respect to their workspace size and kinematic sensitivity to joint clearances. First, the singularities and workspace of a general 3-PPR planar parallel manipulator are analyzed. Then, an error prediction model applicable to both serial and parallel manipulators is developed. As a result, two nonconvex qua...

Desktop conferencing systems are now shifting from strict view-sharing towards relaxed “what-you-see-iswhat-I-see” interfaces, where distributed participants in a real time session can view different parts of a shared visual workspace. As with strict view-sharing, people using relaxed-WYSIWIS require a sense of workspace awareness—the up-to-the-minute knowledge about another person’s interactio...

Various roles for operators in human-machine systems have been proposed. The proposed research hypothesizes that underlying all of these views is the law that operators perform best when given feedback of the same type as their intent. To test the hypothesis, operator performance with position control, rate control, and position control with the ghost arm will be measured to see if giving posit...

Research continues to explore the mechanisms that mediate successful motor control. Behaviourally-relevant modulation of muscle commands is dependent on sensory signals. Proprioception – the sense of body position – is one signal likely to be crucial for motor learning. The present thesis explores the relationship between human proprioception and motor learning. First we investigated changes to...

Pointing to a remembered visual target involves the transformation of binocular visual information into an appropriate motor output. Errors generated during pointing tasks may indicate the reference frames used by the CNS for the transformation and storage of the target position. Previous studies have proposed eye-, shoulder-, or hand-centered reference frames for various pointing tasks, depend...