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Proceedings Paper

Real-time proximity cues for teleoperation using model-based force reflection
Author(s): Guy Bruno; Matthew K. Morgenthaler
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Paper Abstract

The problem of providing model-based proximity cues using force reflection for teleoperation under time delay is addressed. A novel use of artificial potential fields is proposed as a teleoperator aid to efficiently provide a predictive tactile display. Several new artificial potential models are presented which are used to convey accurate shape and proximity information by generating handcontroller forces based on the potential gradient. These new potential gradients are shown to have an efficient implementation via exact computation as a neural network. A real-time prototype implementation and integration with Martin Marietta's teleautonomous testbed is discussed. Evaluations are made with human operators performing tasks using industrial manipulators under time delay scenarios.

Paper Details

Date Published: 1 March 1992
PDF: 10 pages
Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56771
Show Author Affiliations
Guy Bruno, Martin Marietta Civil Space and Communications Co. (United States)
Matthew K. Morgenthaler, Martin Marietta Civil Space and Communications Co. (United States)


Published in SPIE Proceedings Vol. 1612:
Cooperative Intelligent Robotics in Space II
William E. Stoney, Editor(s)

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