The handle design of telemanipulation master devices has not been extensively studied so far. However, the device is an integral part robotic system through which user interacts with system. Previous work showed that size and shape functional rotational workspace human-robot its usability are influenced by handle. Still, in certain situations, e.g., due to preference, a specific grasp type migh...

Kinesthetic force feedback provides measurable increase in remote manipulation system performance. Intensive computation time requirements or operation under conditions of time delay can cause serious stability problems in control system design. This paper presents a simplified linear analysis of this stability problem for the “forward flow” generalized architecture and uses the hybrid two-port...

Haptic feedback is one of the missing links in robotized minimally invasive telesurgery. The teleoperation controllers are optimized so as to offer the surgeon a reliable perception of the stiffness of soft tissue, rather than following the traditional approach where tracking and force reflection fidelity are considered. The experimental results show that optimization allows for better focus on...

1: Deep Submergence Laboratory, Woods Hole Oceanographic Institution, Woods Hole, MA 02543, USA ABSTRACT Control of underwater vehicle/ manipulator systems described by highly nonlinear and coupled dynamics can be improved through careful vehicle and manipulator design, while novel controller structures can improve system performance and simplify the man/machine interface requirements. Understa...

We describe here a method to build fast and realistic synthetic images, which does not require a tedious a priori modeling of the scene to be displayed. We only use photos or videos of a real scene taken from some viewpoints, which in some way we \wrap" to get new (synthetic) images of the same scene. This way, we can virtually see and move inside the 3d scene. The process consists of two steps...

iii I certify that I have read this dissertation and that in my opinion it is fully adequate, in scope and quality, as a dissertation for the degree of Doctor of Philosophy. I certify that I have read this dissertation and that in my opinion it is fully adequate, in scope and quality, as a dissertation for the degree of Doctor of Philosophy. I certify that I have read this dissertation and that...

In this paper the evaluation of a novel haptic macro-micro telemanipulation system is presented. The system includes an interface between a haptic mechanism and a mobile microrobotic platform driven by two centripetal force actuators. The unique characteristics and challenges that arise during the haptic micromanipulation using the specific microrobotic platform are described. The tele-manipula...

This Paper describes the design of the ESA Human Arm Exoskeleton, which has been developed to enable force-feedback telemanipulations with redundant robotic arms. It is described, how several shortcomings of previous telemanipulation systems were eradicated, to meet the system requirements for a lightweight, easy wearable and comfortable system. The patented novelties towards prior arm exoskele...

Recognition of the significant advantages of minimizing surgical trauma has resulted in a substantial increase in the number of minimally invasive (MI) cardiac surgical procedures being performed. Synchronously, technological advances in optics, instrumentation and perfusion technology have facilitated routine totally endoscopic robotic cardiac surgery using the da Vinci((R)) telemanipulation s...

Abstract This paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared of kinematically-redundant robots. The proposed method can be seen as extension state-of-the art hierarchical whole-body it allows some the tasks to commanded by remotely-located human operator through haptic device while others are autonomously performed. is able sw...