research-article

Exoskeleton for Tele-Operation of Industrial Robot

Authors:

Sudipto Mukherjee,

Mohd. Zubair,

Bhivraj Suthar,

Sachin KansalAuthors Info & Claims

AIR '13: Proceedings of Conference on Advances In Robotics

Pages 1 - 5

https://doi.org/10.1145/2506095.2506108

Published: 04 July 2013 Publication History

Get Access

Abstract

An upper limb exoskeleton is being used as master for tele-operation designed to control KUKA KR5 robot that is not directly accessible. Design and implementation issues for this task have been discussed. The connectivity is through .NET remoting, gravity balancing with springs and compacts solutions for alignments of collocated shafts have been achieved through design.

References

[1]

Chen, Y., Zhang, J.F., Yang, C.J., Niu, B. 2007. Design and Hybrid Control of the pneumatic force-feedback systems for Arm-Exoskeleton by using on/off valve. Mechatronics. 17, 6 (July 2007), 325--335. DOI = http://dx.doi.org/10.1016/j.mechatronics.2007.04.001.

Crossref

Google Scholar

[2]

Lin, C., Goldberg, J. H., and Freivalds, A. 1993. A non-exoskeleton optoelectric wrist goniometer. International Journal of Ergonomics. 11, 3 (June 1993), 233--242. DOI= http://dx.doi.org/10.1016/0169-8141(93)90111-P.

Crossref

Google Scholar

[3]

Kiguchi, K., Kariya, S., Watanabe, K., Izumi, K., Fukuda, T. 2001. An Exoskeleton Robot for Human Elbow Motion Support -- Sensor Fusion, Adaptation and Control. IEEE transactions on Systems, Man, and Cybernatics. Part B, Cybernatics. S, 31, 3 (June 2001), 353--361.

Digital Library

Google Scholar

[4]

Bergamasco, M., Allotta, B., Bosio, L., Ferretti, L., Parrini, G., Prisco, G. M., Salsedo, F., Sartini, G. 1994. An Arm Exoskeleton System for Teleoperat ion and Virtual Environments Applications. IEEE International Conference on Robotics and Automation. (IEEE Comput. Soc. Press. 1994). 2, 1449--1454.

Google Scholar

[5]

Jeon, P. W., Jung, S. 2003. Teleoperated Control of Mobile Robot using Exoskeleton type Motion Capturing Device through Wireless Communication. Advanced Intelligent Mechatronics. 2 (2003), 1107--1112.

Google Scholar

[6]

Agrawal, S. K., Fattah, A. 2004. Gravity balancing of spatial robotic manipulator. Mechanism and Machine Theory. 39, 1 (December 2004), 1331--1344.

Crossref

Google Scholar

Cited By

View all

Suthar BZubair MKansal SMukherjee S(2023)Design of Adaptive Sensor Coupling-Based Upper Limb 7-DOF Exoskeleton for Smooth Human Motion Tracking: ASC-EXOIEEE Sensors Journal10.1109/JSEN.2023.327017223:18(20607-20618)Online publication date: 15-Sep-2023
https://doi.org/10.1109/JSEN.2023.3270172
Zubair M(2023)Introduction to Mechanical Design of AI‐Based Robotic SystemMachine Learning Applications10.1002/9781394173358.ch13(207-218)Online publication date: 15-Dec-2023
https://doi.org/10.1002/9781394173358.ch13
Sommerhalder MKurth NSong JRiener R(2022)ARMStick - An Intuitive Therapist Interface for Upper-Limb Rehabilitation Robots2022 International Conference on Rehabilitation Robotics (ICORR)10.1109/ICORR55369.2022.9896409(1-6)Online publication date: 25-Jul-2022
https://doi.org/10.1109/ICORR55369.2022.9896409
Show More Cited By

Index Terms

Exoskeleton for Tele-Operation of Industrial Robot
1. Applied computing
  1. Physical sciences and engineering
    1. Engineering
2. Software and its engineering
  1. Software creation and management
    1. Designing software
      1. Software implementation planning
        Software design techniques
    2. Software development process management
  2. Software notations and tools
    1. General programming languages
      1. Language types
        Functional languages

Recommendations

Removal of jittering in KUKA KR5 while tele-operation with exoskeleton
AIR '15: Proceedings of the 2015 Conference on Advances In Robotics

We have developed Arm Exoskeleton and while doing tele-operation with KUKA KR5, we encounter jittering of KUKA robot due to noise introduced by exoskeleton. We acquire data from the sensors which noisy in nature. The application of median filter has ...
Tactile tele-operation of a mobile robot with a collision vector

In this paper, we have developed and implemented a system that combines autonomous obstacle avoidance with force-reflective tele-operation. In this system, a tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective ...
Analysis of successes and failures with a tele-operated mobile robot in various modes of operation

The effect on failure rates of the way tele-operators interact with mobile robots is investigated. Human tele-operators attempted to move a robot through progressively more complicated environments with reducing gaps, as quickly as possible. Tele-...

Comments

Information & Contributors

Information

Published In

AIR '13: Proceedings of Conference on Advances In Robotics

July 2013

366 pages

ISBN:9781450323475

DOI:10.1145/2506095

Co-chairs:
Alok Mukherjee
R&DE (Engrs.), Pune
,
Anuj Kapuria
Hi-Tech Robotic Systemz Ltd, Gurgaon
,
Program Chairs:
Tom Shibata
NIST, Japan
,
Santanu Chaudhury
IIT Delhi, India
,
Publications Chair:
Subir Kumar Saha
IIT Delhi, India

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 04 July 2013

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article
Research
Refereed limited

Conference

AIR '13

AIR '13: Advances In Robotics 2013

July 4 - 6, 2013

Pune, India

Acceptance Rates

Overall Acceptance Rate 69 of 140 submissions, 49%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

10
Total Citations
View Citations
283
Total Downloads

Downloads (Last 12 months)7
Downloads (Last 6 weeks)0

Reflects downloads up to 07 Mar 2025

Other Metrics

View Author Metrics

Citations

Cited By

View all

Suthar BZubair MKansal SMukherjee S(2023)Design of Adaptive Sensor Coupling-Based Upper Limb 7-DOF Exoskeleton for Smooth Human Motion Tracking: ASC-EXOIEEE Sensors Journal10.1109/JSEN.2023.327017223:18(20607-20618)Online publication date: 15-Sep-2023
https://doi.org/10.1109/JSEN.2023.3270172
Zubair M(2023)Introduction to Mechanical Design of AI‐Based Robotic SystemMachine Learning Applications10.1002/9781394173358.ch13(207-218)Online publication date: 15-Dec-2023
https://doi.org/10.1002/9781394173358.ch13
Sommerhalder MKurth NSong JRiener R(2022)ARMStick - An Intuitive Therapist Interface for Upper-Limb Rehabilitation Robots2022 International Conference on Rehabilitation Robotics (ICORR)10.1109/ICORR55369.2022.9896409(1-6)Online publication date: 25-Jul-2022
https://doi.org/10.1109/ICORR55369.2022.9896409
Hayat AChaudhary SBoby RUdai ADutta Roy SSaha SChaudhury SHayat AChaudhary SBoby RUdai ADutta Roy SSaha SChaudhury S(2022)IdentificationVision Based Identification and Force Control of Industrial Robots10.1007/978-981-16-6990-3_4(75-113)Online publication date: 22-Mar-2022
https://doi.org/10.1007/978-981-16-6990-3_4
Kansal SZubair MSuthar BMukherjee S(2021)Tele-operation of an industrial robot by an arm exoskeleton for peg-in-hole operation using immersive environmentsRobotica10.1017/S0263574721000485(1-16)Online publication date: 14-May-2021
https://doi.org/10.1017/S0263574721000485
Tamanna Uddin MKumar VKumar Yadav V(2021)Comparative study of the VINCI Robot's arm end effector matrix using Python and MATLABMaterials Today: Proceedings10.1016/j.matpr.2021.02.429Online publication date: Mar-2021
https://doi.org/10.1016/j.matpr.2021.02.429
Arun KNair AChittawadigi RVenkatesh KPatnaik S(2020)An Efficient Methodology to Determine the Usability of Exoskeleton to Control a Serial ManipulatorMechanism and Machine Science10.1007/978-981-15-4477-4_28(405-418)Online publication date: 2-Jul-2020
https://doi.org/10.1007/978-981-15-4477-4_28
Jain SSharma SBabbar DInakage MIshii HDo ESteimle JShaer OKunze KPeiris R(2017)Star-ForceProceedings of the Eleventh International Conference on Tangible, Embedded, and Embodied Interaction10.1145/3024969.3041098(761-766)Online publication date: 20-Mar-2017
https://dl.acm.org/doi/10.1145/3024969.3041098
Zubair MKansal SSuthar BMukherjee S(2016)Kinematic mapping of Exoskeleton with virtual KUKA robot2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA)10.1109/RAHA.2016.7931869(1-5)Online publication date: Dec-2016
https://doi.org/10.1109/RAHA.2016.7931869
Suthar BKansal SZubair MJaitly SMukherjee S(2015)Removal of jittering in KUKA KR5 while tele-operation with exoskeletonProceedings of the 2015 Conference on Advances In Robotics10.1145/2783449.2783496(1-5)Online publication date: 2-Jul-2015
https://dl.acm.org/doi/10.1145/2783449.2783496

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

View options

PDF

View or Download as a PDF file.

PDF

eReader

View online with eReader.

eReader

Abstract

References

Cited By

Index Terms

Recommendations

Removal of jittering in KUKA KR5 while tele-operation with exoskeleton

Tactile tele-operation of a mobile robot with a collision vector

Analysis of successes and failures with a tele-operated mobile robot in various modes of operation

Comments

Information

Published In

Publisher

Publication History

Permissions

Check for updates

Author Tags

Qualifiers

Conference

Acceptance Rates

Contributors

Other Metrics

Bibliometrics

Article Metrics

Other Metrics

Citations

Cited By

Login options

Full Access

View options

PDF

eReader

Share

Share this Publication link

Share on social media

Affiliations