Force feedback for 13 degree of freedom teleoperation


College of Computer Studies


Computer Technology

Document Type

Conference Proceeding

Source Title

12th Annual Conference on Mechatronics and Machine Vision in Practice, M2VIP 2005

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The ability of haptic feedback systems to grant the operator the perception of weight, gravity, resistance and stiffness discrimination makes teleoperated interaction more realistic despite the geographical separation. In order to achieve a realistic application of force, its proper distribution throughout the controller must be observed. The system developed is comprised of a controller and a manipulator forming a master-slave configuration. The slave manipulator, simulated through software, keeps track of the movements of the master controller by means of motion capture. Force sensations are applied to the master controller through a combination of actuators positioned towards the joints of the arm, forearm and hand covering a total of thirteen (13) degrees of freedom. Discernment of stiffness is also addressed by the system, however it does not consider full tactile feedback involving texture such as roughness or smoothness. The exoskeleton of the prototype is capable of capturing the operator's movements with an average deviation of 5.71 Degrees against the D-H matrix representation. It is capable of manipulating objects and distinguishing size with at least a 20mm difference in the object's width within a workspace of a one meter semi-sphere based on the operator's shoulder joint. Furthermore, the system is capable of providing weight discernment by providing force increments of 1 Newton per joint with a maximum force of 4 Newtons for the fingers and 11 Newtons for the arm and forearm whether it be simulated through a change in object mass or a change in environment gravity. Soft objects are simulated by exerting force proportional to the depth of entry wherein the exerted force approaches the maximum of 4 Newtons when nearing the object's core for both cube and sphere-shaped objects. The system has an approximate response time of 45ms and a virtual environment refresh rate of 22 frames per second.



Computer Sciences


Motion detectors; Tactile sensors; Haptic devices

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