Abstract
This paper presents a preliminary investigation of techniques for sensing and display of high frequency force information in telemanipulation. For a human teleoperator, force variations above 50–100 Hz are unresolved vibrations, permitting the use of simple means for relaying this information from the remote slave manipulator. Vibrations convey important information about manipulation events such as contact and slip, and about object properties such as friction and surface texture. In this study, a sequence of experiments demonstrates that sensing of vibrations can be important in manipulation and that a vibratory display can convey this information in teleoperation. Using a tapping task, the experiments confirm that: (1) humans make use of vibrations; (2) a vibration display can convey appropriate high-frequency information; and (3) vibratory sensing and display can be used with a teleoperated hand system to improve task performance. Finally, to demonstrate the use of high frequency information in an inspection and maintenance task, subjects used a teleoperated hand system to identify a worn ball bearing set.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
5. References
J. C. Bliss, M. H. Katcher, C. H. Rogers, and R. P. Shepard, „Optical-to-Tactile Image Conversion for the blind,” IEEE Trans. on Man-Machine Systems, Vol. MMS-11, No. 1, pp. 58–65, 1970.
G. Burdea, J. Zhuang, E. Roskos, D. Silver, and N. Langrana, „A portable dextrous hand master with force feedback,” Presence, Vol.1, No.1, pp. 18–28, 1992.
C. J. Hasser and J. M. Weisenberger, “Preliminary evaluation of a shape memory alloy tactile feedback display,” in H. Kazerooni, J. E. Colgate, and B. D. Adelstein, eds., Advances in Robotics, Mechatronics, and Haptic Interfaces 1993, DSC-Vol. 49, pp. 73–80, ASME Winter Annual Meeting, New Orleans, LA, Nov. 28–Dec. 3, 1993.
R. D. Howe, “A Force-Reflecting Teleoperated Hand System for the Study of Tactile Sensing in Precision Manipulation,” in Proc. 1992 IEEE International Conference on Robotics and Automation, Nice, France, pp. 1321–1326, May 1992.
R. D. Howe and M. R. Cutkosky, “Sensing skin acceleration for texture and slip perception,” in Proc. 1989 IEEE International Conference on Robotics and Automation, Scottsdale, AZ, May 1989.
R. D. Howe and D. Kontarinis, „Task performance with a dextrous teleoperated hand system,” in H. Das, ed., Telemanipulator Technology Conference, Proc. SPIE vol. 1833, Boston, MA, Nov. 15–16, 1992, pp. 199–207.
R. D. Howe, N. Popp, P. Akella, I. Kao, and M. Cutkosky., „Grasping, manipulation, and control with tactile sensing,” In Proc. 1990 IEEE International Conference on Robotics and Automation, pp. 12581263, Cincinati, Ohio, May 1990.
B. M. Jau, „Man-equivalent telepresence through four fingered human-like hand system,” Proc. 1992 IEEE Intl. Conf. on Robotics and Automation, Nice, France, May 1992.
R. S. Johansson and G. Westling, “Signals in tactile afferents from the fingers eliciting adaptive motor responses during precision grip,” Experimental Brain Research, Vol. 66, pp. 141–154, 1987.
D. Kontarinis and R. D. Howe, „Display of high frequency tactile information to teleoperators,” in W. Kim, ed., Telemanipulator Technology and Space Robotics Conference, Proc. SPIE vol. 2057, Boston, MA, Sept. 7–9, 1993, in press.
D. A. Kontarinis and R. D. Howe, “Tactile Display of Contact Shape in Dextrous Manipulation,” in H. Kazerooni, J. E. Colgate, and B. D. Adelstein, eds., Advances in Robotics, Mechatronics, and Haptic Interfaces 1993, DSC-Vol. 49, pp. 81–88, ASMEWinter Annual Meeting, New Orleans, LA, Nov. 28–Dec. 3, 1993.
M. Minsky, M. Ouh-young, O. Steele, F.P.J. Brooks and M. Behensky, “Feeling and Seeing: Issues in force display,” In Proc. 1990 Symp. on interactive 3D Graphics, pp. 235–243, 1990.
T. B. Sheridan, Telerobotics, Automation, and Human Supervisory Control, The MIT Press, 1992.
A. B. Vallbo and R. S. Johansson, “Properties of cutaneous mechanoreceptors in the human hand related to touch sensation,” Human Neurobiology, Vol. 3, pp. 3–14, 1984.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1994 Springer-Verlag London Limited
About this paper
Cite this paper
Howe, R.D., Kontarinis, D.A. (1994). High-frequency force information in teleoperated manipulation. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027606
Download citation
DOI: https://doi.org/10.1007/BFb0027606
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-19905-2
Online ISBN: 978-3-540-39355-9
eBook Packages: Springer Book Archive