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Goal-directed movements are executed under the permanent supervision of the central nervous system, which continuously processes sensory afferents and triggers on-line corrections if movement accuracy seems to be compromised. For arm reaching movements, visual information about the hand plays an important role in this supervision, notably improving reaching(More)
A brain-computer interface (BCI) translates brain activity into commands to control devices or software. Common approaches are based on visual evoked potentials (VEP), extracted from the electroencephalogram (EEG) during visual stimulation. High information transfer rates (ITR) can be achieved using (i) steady-state VEP (SSVEP) or (ii) code-modulated VEP(More)
— Recent research focuses on developing robots that are meant to be partners of humans instead of pure machines. This makes enhanced communication necessary. Especially in scenarios embedding physical interaction between the two partners dominance is an urgent matter. To overcome one-sided dominance as in passive following or trajectory replay in favor of(More)
— If a teleoperation scenario foresees complex and fine manipulation tasks a multi-fingered telemanipulation system is required. In this paper a multi-fingered telemanipulation system is presented, whereby the human hand controls a three-finger robotic gripper and force feedback is provided by using an exoskeleton. Since the human hand and robotic grippers(More)
Recent developments strive for realizing robotic systems that not only interact, but closely collaborate with humans in performing everyday manipulation tasks. Successful collaboration requires the integration of the individual partner's intentions into a shared action plan, which may involve continuous negotiation of intentions. We focus on collaboration(More)
In a haptic shared control system, a virtual assistant and a human share the control over performed actions to facilitate execution of manipulation tasks. The assistance level determines the amount of support provided by the assistant. It should be adapted autonomously such that task performance and human effort are optimized. The effect of the assistance(More)
Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable inter-operability between heterogeneous systems. We have developed a network data specification, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a(More)
This chapter introduces the main topics of a telerobotic system. It describes the architecture of such a system from a general point of view and emphasizes the interaction between a human operator and a robot that performs the task in the remote environment. Furthermore it focuses on multi-modal human system interfaces and explains the main features of(More)