Contrast vision-based grasp force feedback in telemanipulation

Péter Galambos, András Róka, Péter Baranyi, Péter 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 publication2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
Pages96-102
Number of pages7
DOIs
Publication statusPublished - Dec 1 2010
Event2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 - Montreal, QC, Canada
Duration: Jul 6 2010Jul 9 2010

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

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

Keywords

  • Biomechatronics
  • Human-machine interface
  • Tele-operation

ASJC Scopus subject areas

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

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  • Cite this

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