Haptic telemanipulation in extensive remote environments

Peer, A., Unterhinninghofen, U., Lee, K., Stanczyk, B. and Buss, M. (2005) Haptic telemanipulation in extensive remote environments. In: Joint International COE/HAM SFB-453 Workshop on Human Adaptive Mechatronics and High-Fidelity Telepresence, Tokyo, Japan, 6 October 2005. Available from: http://eprints.uwe.ac.uk/23885

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We present a telepresence system with visual and haptic feedback for a telemanipulation task in full six degrees-of-freedom. The employed teleoperator consists of an anthropomorphic manipulator arm mounted on a mobile base to allow task execution in wide remote environments. On the operator side we use a hyperredundant force-reflecting input device. Control issues of operator and teleoperator and the coupling between them is discussed. Experimental results validate the approach.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:haptics, telemanipulation, remote environments
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:23885
Deposited By: Professor A. Peer
Deposited On:25 Sep 2014 08:23
Last Modified:28 Mar 2016 04:32

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