Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm

Monica Dascalu; Lucian Milea; Eduard Franti; Florin Lazo; Elteto Zoltan; Ioan Ispas

doi:doi:10.11648/j.ajae.20160303.13

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Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm

Monica Dascalu, Lucian Milea, Eduard Franti, Florin Lazo, Elteto Zoltan, Ioan Ispas

Published in American Journal of Aerospace Engineering (Volume 3, Issue 3)

Received: 31 October 2016 Accepted: 9 November 2016 Published: 5 December 2016

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Abstract

The paper presents a robotic arm which is operated by means of a sensorial interface mounted on the hand and arm of the human operator. The novelty of the research is the application of devices similar to those used for movements detection in virtual reality applications in order to command a robotic system. Depending on the precision of the application intended and also depending on the number of degrees of freedom, the motion detection for the human hand and arm’s motions was approached on different levels of complexity. The data processing methods and the action commands methods were developed in correlation with the structure of the robotic arm and starting from the monitor of the movements of the human arm and hand. The sensorial interface was conceived on the premises that the robotic arm should be able to realize movements similar to those of a healthy human hand, as requested by the application. Therefore, the sensorial interface that monitors the movement of the hand was implemented in order to command a robotic arm having 5 degree of freedom, having an anthropomorphic robotic hand at its end The joints of the system allow rotations of 30-180 degrees (depending on the utility and position). The experimental testing of the robotic system verified the performances of the robotic arm to replicate the movements of the human hand. The operator executed a sequence of movements, with the sensorial interface on, and the robotic arm reproduced the movements (the response was analyzed in quality and quantity).

Published in	American Journal of Aerospace Engineering (Volume 3, Issue 3)
DOI	10.11648/j.ajae.20160303.13
Page(s)	36-42
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2016. Published by Science Publishing Group

Keywords

Robotic Arm, Haptic Feedback, Teleoperation

References

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[2]	Erika Nathalia Gama Melo, Oscar Fernando Aviles Sanchez, Darlo Amaya Hurtado, “Anthropomorphic robotic hands: a review”, Ingeniería y Desarrollo, 32(2), 279-313. Retrieved September 28, 2015.
[3]	Richer E, Hurmuzlu Y. A High Performance Pneumatic Force Actuator System: Part I—Nonlinear Mathematical Model. ASME. J. Dyn. Sys., Meas., Control. 1999; 122(3): 416-425. doi: 10.1115/1.1286336.
[4]	Sooyong Lee, Munsang Kim, Chong-Won Lee, “Human and Robot Integrated Teleoperation”, 1998 IEEE International Conference on Systems, Man, and Cybernetics, Volume 2.
[5]	Jack Bezants, Fancy a knock-up with Maria? US Open fans will be able to play against star in virtual reality as she shows off special suit, MailOnline, 19 August 2015, http://www.dailymail.co.uk/sport/tennis/article-3203281/Maria-Sharapova-films-virtual-reality-tennis-encounter-allow-supporters-Open-play-against-World-No-2.html http://blog.mygreencorner.com/anapproach.pdf.
[6]	Matt Humrick, Elliptic Labs Demos Ultrasonic Touchless Gesturing Technology, Tom's Hardware, January 16, 2015, http://www.tomshardware.com/news/elliptic-labs-ultrasonic-gestures, 28412.html.
[7]	Lucian Milea, Monica Dascalu, Eduard Franti, Suzana Cismas, Doina Moraru, Florin Lazo, Elteto Zoltan. Detection and Tele-replication of Human Hand Motions by a Robotic Hand. American Journal of Aerospace Engineering. Vol. 2, No. 4, 2015, pp. 30-35. doi: 10.11648/j.ajae.20150204.11.
[8]	Mihai Duguleana, An Approach to Solving Kinematics Models and Motion Planning for Manipulators with Mobile Base, Proceedings of the RAAD 2009 18th International Workshop on Robotics in Alpe-Adria-Danube Region May 25-27, 2009, Brasov, Romania.
[9]	Voichiţa Dragomir, Breadth-First Search on a MapReduce One-Chip System, International Journal on Recent and Innovation Trends in Computing and Communication (IJRITCC), vol. 4, issue 4, April, pp 76-81, 2016.
[10]	Voichiţa Maican, Minimum Spanning Tree Algorithm on MapReduce One-Chip Architecture, Romanian Journal of Information Science and Technology (ROMJIST),, vol 18, no 2, pp. 127-143, 2015.
[11]	Pogărăsteanu M. E., Barbilian A. G., "Bionic hand exoprosthesis – Perspectives for the future in Romania", Journal of Medicine and Life, 2014 Oct-Dec; 7(4): 601–603.

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APA Style

Monica Dascalu, Lucian Milea, Eduard Franti, Florin Lazo, Elteto Zoltan, et al. (2016). Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm. American Journal of Aerospace Engineering, 3(3), 36-42. https://doi.org/10.11648/j.ajae.20160303.13

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ACS Style

Monica Dascalu; Lucian Milea; Eduard Franti; Florin Lazo; Elteto Zoltan, et al. Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm. Am. J. Aerosp. Eng. 2016, 3(3), 36-42. doi: 10.11648/j.ajae.20160303.13

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AMA Style

Monica Dascalu, Lucian Milea, Eduard Franti, Florin Lazo, Elteto Zoltan, et al. Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm. Am J Aerosp Eng. 2016;3(3):36-42. doi: 10.11648/j.ajae.20160303.13

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@article{10.11648/j.ajae.20160303.13,
  author = {Monica Dascalu and Lucian Milea and Eduard Franti and Florin Lazo and Elteto Zoltan and Ioan Ispas},
  title = {Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm},
  journal = {American Journal of Aerospace Engineering},
  volume = {3},
  number = {3},
  pages = {36-42},
  doi = {10.11648/j.ajae.20160303.13},
  url = {https://doi.org/10.11648/j.ajae.20160303.13},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajae.20160303.13},
  abstract = {The paper presents a robotic arm which is operated by means of a sensorial interface mounted on the hand and arm of the human operator. The novelty of the research is the application of devices similar to those used for movements detection in virtual reality applications in order to command a robotic system. Depending on the precision of the application intended and also depending on the number of degrees of freedom, the motion detection for the human hand and arm’s motions was approached on different levels of complexity. The data processing methods and the action commands methods were developed in correlation with the structure of the robotic arm and starting from the monitor of the movements of the human arm and hand. The sensorial interface was conceived on the premises that the robotic arm should be able to realize movements similar to those of a healthy human hand, as requested by the application. Therefore, the sensorial interface that monitors the movement of the hand was implemented in order to command a robotic arm having 5 degree of freedom, having an anthropomorphic robotic hand at its end The joints of the system allow rotations of 30-180 degrees (depending on the utility and position). The experimental testing of the robotic system verified the performances of the robotic arm to replicate the movements of the human hand. The operator executed a sequence of movements, with the sensorial interface on, and the robotic arm reproduced the movements (the response was analyzed in quality and quantity).},
 year = {2016}
}

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TY  - JOUR
T1  - Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm
AU  - Monica Dascalu
AU  - Lucian Milea
AU  - Eduard Franti
AU  - Florin Lazo
AU  - Elteto Zoltan
AU  - Ioan Ispas
Y1  - 2016/12/05
PY  - 2016
N1  - https://doi.org/10.11648/j.ajae.20160303.13
DO  - 10.11648/j.ajae.20160303.13
T2  - American Journal of Aerospace Engineering
JF  - American Journal of Aerospace Engineering
JO  - American Journal of Aerospace Engineering
SP  - 36
EP  - 42
PB  - Science Publishing Group
SN  - 2376-4821
UR  - https://doi.org/10.11648/j.ajae.20160303.13
AB  - The paper presents a robotic arm which is operated by means of a sensorial interface mounted on the hand and arm of the human operator. The novelty of the research is the application of devices similar to those used for movements detection in virtual reality applications in order to command a robotic system. Depending on the precision of the application intended and also depending on the number of degrees of freedom, the motion detection for the human hand and arm’s motions was approached on different levels of complexity. The data processing methods and the action commands methods were developed in correlation with the structure of the robotic arm and starting from the monitor of the movements of the human arm and hand. The sensorial interface was conceived on the premises that the robotic arm should be able to realize movements similar to those of a healthy human hand, as requested by the application. Therefore, the sensorial interface that monitors the movement of the hand was implemented in order to command a robotic arm having 5 degree of freedom, having an anthropomorphic robotic hand at its end The joints of the system allow rotations of 30-180 degrees (depending on the utility and position). The experimental testing of the robotic system verified the performances of the robotic arm to replicate the movements of the human hand. The operator executed a sequence of movements, with the sensorial interface on, and the robotic arm reproduced the movements (the response was analyzed in quality and quantity).
VL  - 3
IS  - 3
ER  -

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Author Information

Monica Dascalu

Research Institute for Artificial Intelligence, Department for New Electronic Architecture, Bucharest, Romania
Lucian Milea

Solaris Consult, Bucharest, Romania
Eduard Franti

Research Institute for Artificial Intelligence, Department for New Electronic Architecture, Bucharest, Romania
Florin Lazo

Research Institute for Artificial Intelligence, Department for New Electronic Architecture, Bucharest, Romania
Elteto Zoltan

Research Institute for Artificial Intelligence, Department for New Electronic Architecture, Bucharest, Romania
Ioan Ispas

Research Institute for Artificial Intelligence, Department for New Electronic Architecture, Bucharest, Romania

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APA Style

Monica Dascalu, Lucian Milea, Eduard Franti, Florin Lazo, Elteto Zoltan, et al. (2016). Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm. American Journal of Aerospace Engineering, 3(3), 36-42. https://doi.org/10.11648/j.ajae.20160303.13

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ACS Style

Monica Dascalu; Lucian Milea; Eduard Franti; Florin Lazo; Elteto Zoltan, et al. Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm. Am. J. Aerosp. Eng. 2016, 3(3), 36-42. doi: 10.11648/j.ajae.20160303.13

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AMA Style

Monica Dascalu, Lucian Milea, Eduard Franti, Florin Lazo, Elteto Zoltan, et al. Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm. Am J Aerosp Eng. 2016;3(3):36-42. doi: 10.11648/j.ajae.20160303.13

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@article{10.11648/j.ajae.20160303.13,
  author = {Monica Dascalu and Lucian Milea and Eduard Franti and Florin Lazo and Elteto Zoltan and Ioan Ispas},
  title = {Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm},
  journal = {American Journal of Aerospace Engineering},
  volume = {3},
  number = {3},
  pages = {36-42},
  doi = {10.11648/j.ajae.20160303.13},
  url = {https://doi.org/10.11648/j.ajae.20160303.13},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajae.20160303.13},
  abstract = {The paper presents a robotic arm which is operated by means of a sensorial interface mounted on the hand and arm of the human operator. The novelty of the research is the application of devices similar to those used for movements detection in virtual reality applications in order to command a robotic system. Depending on the precision of the application intended and also depending on the number of degrees of freedom, the motion detection for the human hand and arm’s motions was approached on different levels of complexity. The data processing methods and the action commands methods were developed in correlation with the structure of the robotic arm and starting from the monitor of the movements of the human arm and hand. The sensorial interface was conceived on the premises that the robotic arm should be able to realize movements similar to those of a healthy human hand, as requested by the application. Therefore, the sensorial interface that monitors the movement of the hand was implemented in order to command a robotic arm having 5 degree of freedom, having an anthropomorphic robotic hand at its end The joints of the system allow rotations of 30-180 degrees (depending on the utility and position). The experimental testing of the robotic system verified the performances of the robotic arm to replicate the movements of the human hand. The operator executed a sequence of movements, with the sensorial interface on, and the robotic arm reproduced the movements (the response was analyzed in quality and quantity).},
 year = {2016}
}

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TY  - JOUR
T1  - Haptic Feedback Experiments for Improved Teleoperation of a Robotic Arm
AU  - Monica Dascalu
AU  - Lucian Milea
AU  - Eduard Franti
AU  - Florin Lazo
AU  - Elteto Zoltan
AU  - Ioan Ispas
Y1  - 2016/12/05
PY  - 2016
N1  - https://doi.org/10.11648/j.ajae.20160303.13
DO  - 10.11648/j.ajae.20160303.13
T2  - American Journal of Aerospace Engineering
JF  - American Journal of Aerospace Engineering
JO  - American Journal of Aerospace Engineering
SP  - 36
EP  - 42
PB  - Science Publishing Group
SN  - 2376-4821
UR  - https://doi.org/10.11648/j.ajae.20160303.13
AB  - The paper presents a robotic arm which is operated by means of a sensorial interface mounted on the hand and arm of the human operator. The novelty of the research is the application of devices similar to those used for movements detection in virtual reality applications in order to command a robotic system. Depending on the precision of the application intended and also depending on the number of degrees of freedom, the motion detection for the human hand and arm’s motions was approached on different levels of complexity. The data processing methods and the action commands methods were developed in correlation with the structure of the robotic arm and starting from the monitor of the movements of the human arm and hand. The sensorial interface was conceived on the premises that the robotic arm should be able to realize movements similar to those of a healthy human hand, as requested by the application. Therefore, the sensorial interface that monitors the movement of the hand was implemented in order to command a robotic arm having 5 degree of freedom, having an anthropomorphic robotic hand at its end The joints of the system allow rotations of 30-180 degrees (depending on the utility and position). The experimental testing of the robotic system verified the performances of the robotic arm to replicate the movements of the human hand. The operator executed a sequence of movements, with the sensorial interface on, and the robotic arm reproduced the movements (the response was analyzed in quality and quantity).
VL  - 3
IS  - 3
ER  -

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