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analytical model that allows predicting and interpreting the characteristics of constraint forces generated by misaligned joint axes between human operators and wearable robots during physical human-robot interaction (pHRI). The pHRI model is based on geometric parameters that describe the combined human-robot system. It is applied in this paper to measured(More)
A mobile robot is the most suited element to bring scientific instruments to a specific site in order to examine geology, mineralogy or exobiology on extraterrestrial planets. In contrast with the Mars Pathfinder mission, the actual need for mobility increases in terms of range and duration. In this respect, redesigning specific aspects of the past rover(More)
grasping task difficulty, 3) grasp quality, and 4) difficulty level for the operator to assess the grasp quality. Several test subjects were allocated to remotely grasp regular and irregular shaped objects, under different combinations of visual-and force-feedback conditions. This work categorized the benefits of visual-and force-feedback in teleoperated(More)