Construction Robot Operation System with Object’s Hardness Recognition Using Force Feedback and Virtual Reality

2012 ◽  
Vol 24 (6) ◽  
pp. 958-966 ◽  
Author(s):  
Lingtao Huang ◽  
◽  
Takuya Kawamura ◽  
Hironao Yamada ◽  
Keyword(s):  
Virtual Reality ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Reaction Force ◽  
Pressure Sensors ◽  
Virtual Space ◽  
Object Type ◽  
Operation System ◽  
Urethane Foam ◽  
Soft Object

We developed a master-slave operation system for a teleoperation construction robot that recognizes the hardness of a grasped object. To manipulate an object, the system uses an excavator with four degrees of freedom as a slave and two joysticks with force feedback equipment as a master. Based on creating a friendly user interface, the operation system uses multimodel sensory force and visual feedback to successfully discriminate among soft object types during operation. The construction robot measures the hardness of an object using the pressure of a piston obtained by pressure sensors on the cylinder and the closed or open state of a fork glove in the process of grasping an object. By incorporating an object-hardness calculation method with master-slave control of the system, an operator then can feel the sense of reaction force to joysticks and distinguish the hardness of an object while controlling the construction robot. In addition, parameters on object-hardness calculation are presented to the operator to improve the system’s controllability. Color prompting is provided in virtual space to enable the operator to identify the hardness of an object. To evaluate the system, object-type recognition tests were conducted, including the grasping and conveying of blocks of concrete, tires, urethane foam and sponge foam. According to statistical analysis of experimental results, we confirmed that the operation system contributes to achieving the successful discrimination of object hardness during teleoperation work.

First Test Results of a Haptic Tele-Operation System to Enhance Stability of Telescopic Handlers

2010 ◽  
Author(s):  
Stefano Cenci ◽  
Giulio Rosati ◽  
Damiano Zanotto ◽  
Fabio Oscari ◽  
Aldo Rossi
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Control Strategies ◽  
Input Device ◽  
Test Results ◽  
Operation System ◽  
Work Related ◽  
Control Schemes ◽  
Working Capability ◽  
Stiff Joint

According to a recent report of ILO (International Labour Organization), more than two million people die or loose the working capability every year because of accidents or work-related diseases. A large portion of these accidents are related to the execution of motion and transportation tasks involving heavy duty machines. The insufficient degree of interaction between the human operator and the machine may be regarded as one of the major causes of this phenomenon. The main goal of the tele-operation system presented in this paper is to both preserving slave (machine) stability, by reducing the inputs of slave actuators when certain unsafe working conditions occur, and improving the level of interaction at master (operator) side. Different control schemes are proposed in the paper, including several combinations of master and slave control strategies. The effectiveness of the algorithms is analyzed by presenting some experimental results, based on the use of a two degrees-of-freedom force feedback input device (with one active actuator and one passive stiff joint) coupled with a simulator of a telescopic handler.

Virtual Force Feedback Lessons, Challenges, Future Applications

1993 ◽  
Vol 5 (2) ◽  
pp. 178-182 ◽  
Author(s):  
Grigore C. Burdea ◽  
◽  
Noshir A. Langrana ◽  
Keyword(s):  
Virtual Reality ◽  
Range Of Motion ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Virtual Force ◽  
The Future

Virtual force feedback prototypes have been developed in the last couple of years. Their number of degrees of freedom and range of motion are limited by present (bulky) actuator technology. Lessons from these first prototypes point to possible solutions in the future. Several applications of virtual reality with force feedback are then described.

scholarly journals Let's Use Haptics!

2013 ◽  
Vol 9 (S8) ◽  
pp. 65 ◽  
Author(s):  
Manuel Rodrigues Quintas ◽  
Maria Teresa Restivo ◽  
José Rodrigues ◽  
Pedro Ubaldo
Keyword(s):  
Virtual Reality ◽  
Young People ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Complete System ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Haptic Device ◽  
Expensive Equipment ◽  
Sense Of Touch

The concept and the use of haptic devices need to be disseminated and they should become familiar among young people. At present haptics are used in many everyday tasks in different fields. Additionally, their use in interaction with virtual reality applications simulating real systems sense of touch will increase the usersâ?? realism and immersion and, consequently, they will contribute to improve the intrinsic knowledge to the simulationsâ?? goals. However, haptics are associated with expensive equipment and usually they offer several degrees of freedom. The objective of this work is to make their cost not much more expensive than a â??specialâ? mouse by offering a low cost solution with just one degree of freedom (1DOF) useful in many simple cases. Additionally, it is also an objective of this work the development of simple virtual reality systems requiring interactions only requiring one degree of freedom. A low cost, single-axis force-feedback haptic device of 1 degree of freedom has been developed. For evaluating the interest of this prototype a â??Spring Constantâ? application was built and used as a demonstrator. The complete system - the haptic interacting with the â??Spring Constantâ? - will be described in the present work.

scholarly journals A simulator for both manual and powered wheelchairs in immersive virtual reality CAVE

2021 ◽  
Author(s):  
C. Genova ◽  
E. Biffi ◽  
S. Arlati ◽  
D. F. Redaelli ◽  
A. Prini ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Cognitive Abilities ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Systematic Bias ◽  
Immersive Virtual Reality ◽  
Motion Platform ◽  
Training Tool ◽  
Wheel Rotation ◽  
Median Error

AbstractA large number of people in the world need to use a wheelchair because of different disabilities. Driving a wheelchair requires complex physical and cognitive abilities which need to be trained. Virtual training helps users acquire driving skills in a safe environment. The aim of this paper is to describe and technically validate simulation models for both manual (MW) and powered wheelchairs (PW) based on immersive virtual reality CAVE (VR). As VR system, the Gait Real-time Analysis Interactive Lab (GRAIL) was used, a CAVE equipped with a motion platform with two degrees of freedom and an optoelectronic motion capture system. A real wheelchair was positioned onto the motion platform with rear wheels free to turn in MW modality, and a commercial joystick was installed on an armrest to simulate the PW modality. Passive markers were used to track the wheel rotation, the joystick and the user hand motion. Custom D-flow applications were developed to manage virtual scene response to user actions. Overground tests, based on single wheel rotation, were performed to verify the simulation model reliability. Quantitative results demonstrated that the MW simulator kinematics was consistent with a real wheelchair overground in the absence of wheel slip and inertia (median error for MW 0.40 °, no systematic bias p = 0.943, high correlation rho > 0.999, p < 0.01). The proposed solution is flexible and adaptable to different wheelchairs, joysticks and optoelectronic systems. The main limitation is the absence of force feedback. Nevertheless, it is a reliable prototype that can be used to validate new virtual scenarios as well as for wheelchair training. The next steps include the system validation with real end users and assessment of the simulator effectiveness as a training tool.

scholarly journals The Interaction of Five-Fingered Haptic Controller for Manipulating Object in Virtual Reality

2020 ◽  
Vol 9 (4) ◽  
pp. 160-166
Author(s):  
SangHun Nam ◽  
◽  
Jiyong Lee ◽  
Ginam Ko
Keyword(s):  
Virtual Reality ◽  
Force Feedback ◽  
Serial Communication ◽  
Pressure Sensors ◽  
Virtual Object ◽  
Game Engine ◽  
Pressure Data ◽  
Interface Module ◽  
Linear Actuators

In this paper, we designed a haptic controller interface that can control haptic controller with pressure sensors that collect pressure data from each finger, linear actuators to control different force feedback on each finger, and vibration motor. The haptic controller system consists of haptic controller hardware, haptic controller interface, and game engine module. The haptic controller hardware communicates with haptic controller interface module via serial communication. The game engine interface module performs physics-based interaction between haptic controller and virtual object. We designed the haptic controller interface with previously studied hardware and performed user tests. This paper showed the possibility of more realistic hand operation than the existing VR controller.

scholarly journals A Force-Feedback Exoskeleton for Upper-Limb Rehabilitation in Virtual Reality

2009 ◽  
Vol 6 (2) ◽  
pp. 115-126 ◽  
Author(s):  
Antonio Frisoli ◽  
Fabio Salsedo ◽  
Massimo Bergamasco ◽  
Bruno Rossi ◽  
Maria C. Carboncini
Keyword(s):  
Virtual Reality ◽  
Upper Limb ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Full Range ◽  
Upper Limb Rehabilitation ◽  
Reaching Task ◽  
Human Arm ◽  
Performance Error ◽  
Limb Rehabilitation

This paper presents the design and the clinical validation of an upper-limb force-feedback exoskeleton, the L-EXOS, for robotic-assisted rehabilitation in virtual reality (VR). The L-EXOS is a five degrees of freedom exoskeleton with a wearable structure and anthropomorphic workspace that can cover the full range of motion of human arm. A specific VR application focused on the reaching task was developed and evaluated on a group of eight post-stroke patients, to assess the efficacy of the system for the rehabilitation of upper limb. The evaluation showed a significant reduction of the performance error in the reaching task (pairedt-test, p < 0.02)

scholarly journals Stage-directing the Virtual Reality Experience: Developing a Theoretical Framework for Immersive Literacy

2021 ◽  
Vol 6 (2) ◽  
pp. 129-147
Author(s):  
Henry Melki ◽  
Keyword(s):  
Virtual Reality ◽  
Degrees Of Freedom ◽  
Visual Language ◽  
Virtual Space ◽  
Short Film ◽  
Holistic View ◽  
Visual Storytelling ◽  
Theatrical Play ◽  
Incremental Improvement ◽  
The Comparative Study

Despite the incremental improvement and inclusion of immersive technologies in entertainment, training simulation, fine art, inclusive design, academia, and education; Virtual Reality (VR) still faces issues regarding its ability to compete with films and animation in visual storytelling without merging into the realm of video games. In 2015, Pixar’s Ed Catmull warned moviemakers that Virtual Reality is “not storytelling” and argued that the linear aspect of narratives poses an obstacle that cannot be overcome with VR. In contrast, Catmull argued that VR has immense application in games. However, VR creators have been pushing the boundaries and possibilities of delivering narratives in virtual spaces. In 2019, the VR experience “Gloomy Eyes” was presented at the Sundance festivals featuring a 30-minute story split between 3 episodes. The simulation is structured to provide its audience with some degrees of freedom while guiding them intuitively through the virtual space. In 2021, Blue Zoo also released a VR project titled “The Beast” featuring a cyclist powering up a snow-covered mountain. The short film was entirely created in Quill VR with the intention of being treated like a theatrical play rather than a film. While the creators of “The Beast” have explicitly mentioned the influence of theatre, “Gloomy Eyes” draws its visual language from similar theatrical roots. This paper argues that VR has been mistakenly compared to film and animation when it should be associated with theatre. The audience of both are not passive as they are during the screening of a film or animation. The space and the medium demands participation through their presence in the same space with the actors/characters. Theatre presents a promising candidate for extracting criteria that could be used to develop a visual language for VR. This research aims to formulate a framework for developing a VR visual language through comparison between character-driven narratives in VR such as “Gloomy Eyes” and “The Beast”. The comparative study establishes overlapping criteria and characteristics found in the structure, literacy, sound, and delivery format of narratives in a theatrical performance. These criteria are then outlined and discussed, drawing from affordance theory and discussions on aural and visual attention in theatre, to form a holistic view in approaching VR literacy.

Wire-Driven Pneumatic Actuation of a New 6-DOF Haptic Master

2006 ◽  
Author(s):  
Carlo Ferraresi ◽  
Massimiliana Carello ◽  
Francesco Pescarmona ◽  
Roberto Grassi
Keyword(s):  
Virtual Reality ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Angular Displacement ◽  
Haptic Device ◽  
The Other ◽  
Six Degrees Of Freedom ◽  
Pneumatic Actuation ◽  
Virtual Device ◽  
Other Hand

The paper presents the results of a work carried out by the Department of Mechanics of Politecnico di Torino, concerning the study and development of a six degrees of freedom force reflecting master structure for teleoperation (haptic device) to be controlled by an operator. The latter imposes the six-dimensional linear and angular displacement of a handle, controlling a remote slave robot or interacting with virtual reality. On the other hand, the operator receives a force feedback related to the environment in which the slave robot or virtual device operates. Since the actuators must be force controlled in order to generate a resultant corresponding to the desired wrench, pneumatic actuation has been chosen because it is particularly suitable to the application and quite economical.

Sign in / Sign up

Export Citation Format

Share Document