Contrast vision-based grasp force feedback in telemanipulation

Péter Galambos, András Róka, P. Baranyi, P. Korondi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

The operator usually uses his hands to perform manipulation tasks. She has to feel the reaction forces in highprecision manipulation. The mechanism applied in the human interface device for force and tactile feedback is the most challenging (and usually the most expensive) part of a telepresence device. Bilateral control is a common solution in these systems. However, the coupled force and position control loops have contradicting requirements. Usually, the human operator has to learn a lot until she can "feel the task" in her hand, even in direct manipulation. However, using the plasticity of the human brain sensory substitution can be used to achieve a cheaper and partially decoupled system. The main contribution of this paper is a model of human contrast vision, which is applied to feedback of the grasping force in a telemanipulation system in order to decouple the bilateral control and to achieve a less complex haptic device. A contrast model of a the human vision is introduced and it is applied for grasping force feedback via peripheral vision. The preliminary results are presented.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages96-102
Number of pages7
DOIs
Publication statusPublished - 2010
Event2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 - Montreal, QC, Canada
Duration: Jul 6 2010Jul 9 2010

Other

Other2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
CountryCanada
CityMontreal, QC
Period7/6/107/9/10

Fingerprint

Feedback
Force control
Position control
Plasticity
Brain
Substitution reactions

Keywords

  • Biomechatronics
  • Human-machine interface
  • Tele-operation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Galambos, P., Róka, A., Baranyi, P., & Korondi, P. (2010). Contrast vision-based grasp force feedback in telemanipulation. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 96-102). [5695857] https://doi.org/10.1109/AIM.2010.5695857

Contrast vision-based grasp force feedback in telemanipulation. / Galambos, Péter; Róka, András; Baranyi, P.; Korondi, P.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2010. p. 96-102 5695857.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Galambos, P, Róka, A, Baranyi, P & Korondi, P 2010, Contrast vision-based grasp force feedback in telemanipulation. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 5695857, pp. 96-102, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010, Montreal, QC, Canada, 7/6/10. https://doi.org/10.1109/AIM.2010.5695857
Galambos P, Róka A, Baranyi P, Korondi P. Contrast vision-based grasp force feedback in telemanipulation. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2010. p. 96-102. 5695857 https://doi.org/10.1109/AIM.2010.5695857
Galambos, Péter ; Róka, András ; Baranyi, P. ; Korondi, P. / Contrast vision-based grasp force feedback in telemanipulation. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2010. pp. 96-102
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