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Stable Adaptive Teleoperation
This paper is a preliminary study of what role recent results in adaptive robot control and the understanding of time-delays may play in the development of effective telerobotics systems, which would best exploit the presence of the human operator while making full use of available robot control technology and computing power.
Telemanipulation with Time Delays
This design methodology aims to create a virtual tool which accounts for the implicit limitations imposed by the delay, and uses wave variables for the analysis and implementation, and builds a system with consistent and predictable behavior.
Stability of Haptic Rendering: Discretization, Quantization, Time Delay, and Coulomb Effects
- N. Diolaiti, G. Niemeyer, F. Barbagli, J. Salisbury
- Computer ScienceIEEE Transactions on robotics
- 1 April 2006
A study of this problem, which relates the maximum achievable object stiffness to the elements of the control loop, examines how the sampling rate, quantization, computational delay, and amplifier dynamics interact with the inertia, natural viscous, and Coulomb damping of the haptic device.
Improving contact realism through event-based haptic feedback
- K. J. Kuchenbecker, J. Fiene, G. Niemeyer
- Materials ScienceIEEE Transactions on Visualization and Computer…
- 1 March 2006
A new method for generating appropriate transients inverts a dynamic model of the haptic device to determine the motor forces required to create prerecorded acceleration profiles at the user's fingertips, providing an important new avenue for increasing the realism of contact in haptic interactions.
High-performance robotic muscles from conductive nylon sewing thread
This paper develops a thermomechanical and thermoelectric model of super-coiled polymer actuators, and examines their controllability, and uses them in a robotic hand to demonstrate their applicability as a low-cost, high performance robotic muscle.
This paper presents a user-centered, model-mediated approach to bilateral telemanipulation under large communication delays that mitigates user perception difficulties and allows stable motion and force interactions with the remote environment.
Towards force-reflecting teleoperation over the Internet
Stability can be preserved through the systematic use of specially designed wave-variable filters in the presence of significant time-delays, and the resulting performance of the teleoperation system is consistent with reasonable expectations on "ideal" behavior.
Using wave variables in time delayed force reflecting teleoperation
- G. Niemeyer
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1996.
Using wave variables for system analysis and robot control
The concept of wave variables is explored in a more general robotic and mechanical setting, leading to alternate control approaches and a new perspective for analysis, presenting information from an alternative viewpoint.
The Black Falcon: a teleoperated surgical instrument for minimally invasive surgery
- A. Madhani, G. Niemeyer, J. Salisbury
- MedicineProceedings. IEEE/RSJ International Conference…
- 13 October 1998
The Black Falcon, an eight degree-of-freedom teleoperator slave with a dextrous wrist for minimally invasive surgery (MIS) is presented and suturing along arbitrarily oriented suture lines in animal tissue, a task essentially impossible using current instruments is demonstrated.