Contact task by force feedback teleoperation under communication time delay

Masahiro Nohmi, Thomas Bock

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

This paper proposes a new strategy for space teleoperation under communication time delay, which makes it possible for an operator to know conditions of a remote manipulator through force reflection of the time delay. Using the proposed strategy, an operator feels as if the manipulator is operated through a virtual spring. Basic algorithm is that difference of command and telemetry due to the time delay is displayed to an operator by force reflection of a hand controller. Also, the force reflection includes a contact force applied to the manipulator. In operation without contact, force reflection becomes to be zero when the manipulator finishes its motion. Under condition of contact, force reflection continues to be applied even if the manipulator stops its motion. The effectiveness of the proposed approach was confirmed by teleoperation experiment: vertical contact to target and tracking task, especially focusing on contact force display and command input of a hand controller.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Pages55-60
Number of pages6
DOIs
StatePublished - 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 - Kunming, China
Duration: 17 Dec 200620 Dec 2006

Publication series

Name2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Conference

Conference2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Country/TerritoryChina
CityKunming
Period17/12/0620/12/06

Keywords

  • Communication time delay
  • Contact task
  • Force feedback
  • Teleoperation

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