scholarly journals Grasp Force Feedback Control of Robot Hand Using Stepping Motors, Gears and Plate Springs

2008 ◽  
Vol 2 (2) ◽  
pp. 485-496 ◽  
Author(s):  
Hiroyuki KOJIMA ◽  
Ping HAN
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Robot Hand ◽  
Grasp Force

Bilateral Force Feedback Control for a Vehicle-Type Tele-Mobility System

2013 ◽  
Vol 133 (8) ◽  
pp. 795-803
Author(s):  
Kazuki Nagase ◽  
Shutaro Yorozu ◽  
Takahiro Kosugi ◽  
Yuki Yokokura ◽  
Seiichiro Katsura
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Vehicle Type ◽  
Mobility System

Haptic Teleoperation of Humanoid Robot Hand Using Three-Dimensional Force Feedback

2009 ◽  
Vol 42 (16) ◽  
pp. 431-436 ◽  
Author(s):  
Mai Mishima ◽  
Haruhisa Kawasaki ◽  
Tetsuya Mouri ◽  
Takahiro Endo
Keyword(s):  
Humanoid Robot ◽  
Force Feedback ◽  
Three Dimensional ◽  
Robot Hand

Development and Testing of a Telemanipulation System With Arm and Hand Motion

2000 ◽  
Author(s):  
Michael L. Turner ◽  
Ryan P. Findley ◽  
Weston B. Griffin ◽  
Mark R. Cutkosky ◽  
Daniel H. Gomez
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Industrial Robot ◽  
Robot Hand ◽  
Robot Arm ◽  
Task Execution ◽  
Hand Motion ◽  
Instrumented Glove ◽  
Simple Manipulation ◽  
Dexterous Robot Hand

Abstract This paper describes the development of a system for dexterous telemanipulation and presents the results of tests involving simple manipulation tasks. The user wears an instrumented glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in block-stacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimental to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.

scholarly journals Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7489
Author(s):  
Hu Shi ◽  
Boyang Zhang ◽  
Xuesong Mei ◽  
Qichun Song
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Impedance Control ◽  
Three Dimensional ◽  
Surgical Instruments ◽  
Force Output ◽  
Software Environment ◽  
Force Detection ◽  
Academic Field ◽  
Learning Machine

Robot-assisted minimally invasive surgery (MIS) has received increasing attention, both in the academic field and clinical operation. Master/slave control is the most widely adopted manipulation mode for surgical robots. Thus, sensing the force of the surgical instruments located at the end of the slave manipulator through the main manipulator is critical to the operation. This study mainly addressed the force detection of the surgical instrument and force feedback control of the serial surgical robotic arm. A measurement device was developed to record the tool end force from the slave manipulator. An elastic element with an orthogonal beam structure was designed to sense the strain induced by force interactions. The relationship between the acting force and the output voltage was obtained through experiment, and the three-dimensional force output was decomposed using an extreme learning machine algorithm while considering the nonlinearity. The control of the force from the slave manipulator end was achieved. An impedance control strategy was adopted to restrict the force interaction amplitude. Modeling, simulation, and experimental verification were completed on the serial robotic manipulator platform along with virtual control in the MATLAB/Simulink software environment. The experimental results show that the measured force from the slave manipulator can provide feedback for impedance control with a delay of 0.15 s.

Numerical analysis of force-feedback control in a circular tank

2014 ◽  
Vol 47 ◽  
pp. 329-343 ◽  
Author(s):  
Istvan Gyongy ◽  
Tom Bruce ◽  
Ian Bryden
Keyword(s):  
Numerical Analysis ◽  
Feedback Control ◽  
Force Feedback
Sign in / Sign up

Export Citation Format

Share Document