The Experts below are selected from a list of 309 Experts worldwide ranked by ideXlab platform
J D Chapel - One of the best experts on this subject based on the ideXlab platform.
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performance trade offs for Hand Controller design
International Conference on Robotics and Automation, 1994Co-Authors: Dale Lawrence, J D ChapelAbstract:Realistic specifications are developed for Hand Controller mechanical and control design, based on limitations of human operator motion and perception capabilities observed in initial experimental studies. A representative dynamic model is used to develop expressions for the limits on closed loop Hand Controller impedance. Specific trade-offs are derived between mechanical design options and control design options for achieving realistic performance specifications. Implications of these trade-offs in designing "ideal-equivalent" Hand Controllers are discussed, and applied to a high-performance laboratory Hand Controller prototype. >
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ICRA - Performance trade-offs for Hand Controller design
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1Co-Authors: Dale Lawrence, J D ChapelAbstract:Realistic specifications are developed for Hand Controller mechanical and control design, based on limitations of human operator motion and perception capabilities observed in initial experimental studies. A representative dynamic model is used to develop expressions for the limits on closed loop Hand Controller impedance. Specific trade-offs are derived between mechanical design options and control design options for achieving realistic performance specifications. Implications of these trade-offs in designing "ideal-equivalent" Hand Controllers are discussed, and applied to a high-performance laboratory Hand Controller prototype. >
Dale Lawrence - One of the best experts on this subject based on the ideXlab platform.
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performance trade offs for Hand Controller design
International Conference on Robotics and Automation, 1994Co-Authors: Dale Lawrence, J D ChapelAbstract:Realistic specifications are developed for Hand Controller mechanical and control design, based on limitations of human operator motion and perception capabilities observed in initial experimental studies. A representative dynamic model is used to develop expressions for the limits on closed loop Hand Controller impedance. Specific trade-offs are derived between mechanical design options and control design options for achieving realistic performance specifications. Implications of these trade-offs in designing "ideal-equivalent" Hand Controllers are discussed, and applied to a high-performance laboratory Hand Controller prototype. >
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ICRA - Performance trade-offs for Hand Controller design
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1Co-Authors: Dale Lawrence, J D ChapelAbstract:Realistic specifications are developed for Hand Controller mechanical and control design, based on limitations of human operator motion and perception capabilities observed in initial experimental studies. A representative dynamic model is used to develop expressions for the limits on closed loop Hand Controller impedance. Specific trade-offs are derived between mechanical design options and control design options for achieving realistic performance specifications. Implications of these trade-offs in designing "ideal-equivalent" Hand Controllers are discussed, and applied to a high-performance laboratory Hand Controller prototype. >
Dongsoo Kwon - One of the best experts on this subject based on the ideXlab platform.
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haptic control of the master Hand Controller for a microsurgical telerobot system
International Conference on Robotics and Automation, 1999Co-Authors: Dongsoo Kwon, Ki Young Woo, Hyungsuck ChoAbstract:A microsurgical telerobot system has been developed based on the results of the operation task analysis. The telerobot system is composed of a 6-DOF parallel micromanipulator attached to the macro-motion industrial robot and a 6-DOF force-reflecting haptic master device. The master device uses five-bar parallel mechanisms driven by harmonic DC servomotors. The proposed 6-DOF master Hand Controller has nonlinear coupled dynamics and friction. Since the disturbance force due to friction, gravity and coupled inertia can distort the operator's perception, a disturbance observer is introduced in the operational space and implemented in the microsurgery master Hand Controller.
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a 6 dof force reflecting Hand Controller using the fivebar parallel mechanism
International Conference on Robotics and Automation, 1998Co-Authors: Ki Young Woo, Byoung Dae Jin, Dongsoo KwonAbstract:A force-reflecting Hand Controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a telerobotic system. Our goal is to construct a compact Hand Controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-DOF force-reflecting Hand Controller using fivebar parallel mechanisms. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms of workspace and manipulability measure. The Hand Controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept and the force reflecting control schemes.
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ICRA - A 6-DOF force-reflecting Hand Controller using the fivebar parallel mechanism
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1Co-Authors: Ki Young Woo, Byoung Dae Jin, Dongsoo KwonAbstract:A force-reflecting Hand Controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a telerobotic system. Our goal is to construct a compact Hand Controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-DOF force-reflecting Hand Controller using fivebar parallel mechanisms. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms of workspace and manipulability measure. The Hand Controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept and the force reflecting control schemes.
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ICRA - Haptic control of the master Hand Controller for a microsurgical telerobot system
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 1Co-Authors: Dongsoo Kwon, Ki Young Woo, Hyungsuck ChoAbstract:A microsurgical telerobot system has been developed based on the results of the operation task analysis. The telerobot system is composed of a 6-DOF parallel micromanipulator attached to the macro-motion industrial robot and a 6-DOF force-reflecting haptic master device. The master device uses five-bar parallel mechanisms driven by harmonic DC servomotors. The proposed 6-DOF master Hand Controller has nonlinear coupled dynamics and friction. Since the disturbance force due to friction, gravity and coupled inertia can distort the operator's perception, a disturbance observer is introduced in the operational space and implemented in the microsurgery master Hand Controller.
Ki Young Woo - One of the best experts on this subject based on the ideXlab platform.
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haptic control of the master Hand Controller for a microsurgical telerobot system
International Conference on Robotics and Automation, 1999Co-Authors: Dongsoo Kwon, Ki Young Woo, Hyungsuck ChoAbstract:A microsurgical telerobot system has been developed based on the results of the operation task analysis. The telerobot system is composed of a 6-DOF parallel micromanipulator attached to the macro-motion industrial robot and a 6-DOF force-reflecting haptic master device. The master device uses five-bar parallel mechanisms driven by harmonic DC servomotors. The proposed 6-DOF master Hand Controller has nonlinear coupled dynamics and friction. Since the disturbance force due to friction, gravity and coupled inertia can distort the operator's perception, a disturbance observer is introduced in the operational space and implemented in the microsurgery master Hand Controller.
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a 6 dof force reflecting Hand Controller using the fivebar parallel mechanism
International Conference on Robotics and Automation, 1998Co-Authors: Ki Young Woo, Byoung Dae Jin, Dongsoo KwonAbstract:A force-reflecting Hand Controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a telerobotic system. Our goal is to construct a compact Hand Controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-DOF force-reflecting Hand Controller using fivebar parallel mechanisms. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms of workspace and manipulability measure. The Hand Controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept and the force reflecting control schemes.
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ICRA - A 6-DOF force-reflecting Hand Controller using the fivebar parallel mechanism
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1Co-Authors: Ki Young Woo, Byoung Dae Jin, Dongsoo KwonAbstract:A force-reflecting Hand Controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a telerobotic system. Our goal is to construct a compact Hand Controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-DOF force-reflecting Hand Controller using fivebar parallel mechanisms. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms of workspace and manipulability measure. The Hand Controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept and the force reflecting control schemes.
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ICRA - Haptic control of the master Hand Controller for a microsurgical telerobot system
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 1Co-Authors: Dongsoo Kwon, Ki Young Woo, Hyungsuck ChoAbstract:A microsurgical telerobot system has been developed based on the results of the operation task analysis. The telerobot system is composed of a 6-DOF parallel micromanipulator attached to the macro-motion industrial robot and a 6-DOF force-reflecting haptic master device. The master device uses five-bar parallel mechanisms driven by harmonic DC servomotors. The proposed 6-DOF master Hand Controller has nonlinear coupled dynamics and friction. Since the disturbance force due to friction, gravity and coupled inertia can distort the operator's perception, a disturbance observer is introduced in the operational space and implemented in the microsurgery master Hand Controller.
D M Lokhorst - One of the best experts on this subject based on the ideXlab platform.
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ICRA (2) - Closed-loop kinematic calibration of the RSI 6-DOF Hand Controller
IEEE Transactions on Robotics and Automation, 1995Co-Authors: J M Hollerbach, D M LokhorstAbstract:A method is presented for autonomous kinematic calibration of the RSI 6-DOF Hand Controller, a two-loop parallel mechanism comprised of three, 6-degrees-of-freedom (DOF) arms with potentiometers on the first three joints of each arm. This double closed-loop kinematic calibration method is an adaptation of a previously developed single closed-loop method. The kinematic parameters identified are the joint angle offsets and the joint angle gains. Experimental results are presented and compared to results using a special calibration fixture. >
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closed loop kinematic calibration of the rsi 6 dof Hand Controller
International Conference on Robotics and Automation, 1993Co-Authors: J M Hollerbach, D M LokhorstAbstract:A method is presented for autonomous kinematic calibration of the RSI 6-DOF Hand Controller, a two-loop parallel mechanism comprised of three, 6-degrees-of-freedom (DOF) arms with potentiometers on the first three joints of each arm. This double closed-loop kinematic calibration method is an adaptation of a previously developed single closed-loop method. The kinematic parameters identified are the joint angle offsets and the joint angle gains. Experimental results are presented and compared to results using a special calibration fixture. >
