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Proceedings Paper

Internet based gripper teleoperation with random time delay by using haptic feedback and SEMG
Author(s): Xiaonong Xu; Aiguo Song; Huatao Zhang; Peng Ji
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Paper Abstract

Random time delay may cause instability in the internet based teleoperation system. Transparency and intuitiveness are also very important for operator to control the system to accurately perform the desired action, especially for the gripper teleoperation system. This paper presents a new grip force control method of gripper teleoperation system with haptic feedback. The system employs the SEMG signal as the control parameter in order to enhance the intuitive control experience for operator. In order to eliminate the impacts on the system stability caused by random time delay, a non-time based teleoperation method is applied to the control process. Besides, neural network and designed fuzzy logic controller is also utilized to improve this control method. The effectiveness of the proposed method is demonstrated by experiment results.

Paper Details

Date Published: 25 October 2016
PDF: 7 pages
Proc. SPIE 10157, Infrared Technology and Applications, and Robot Sensing and Advanced Control, 101571S (25 October 2016); doi: 10.1117/12.2246667
Show Author Affiliations
Xiaonong Xu, Southeast Univ. (China)
Aiguo Song, Southeast Univ. (China)
Huatao Zhang, Southeast Univ. (China)
Peng Ji, Southeast Univ. (China)

Published in SPIE Proceedings Vol. 10157:
Infrared Technology and Applications, and Robot Sensing and Advanced Control

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