A novel idea for improving transparency of teleoperation systems with force feedback is presented. This approach is based on the idea of sensory subtraction presented in [12], and consists of providing the operator with independently controlled kinesthetic and cutaneous feedback to improve the realism of haptic rendering of the remote environment (i.e., transparency), while preserving stability. More specifically, cutaneous force feedback is employed to recover transparency when a lack of kinesthetic feedback has to be enforced to keep the teleoperation loop stable. The viability of this approach is demonstrated with two experiments of teleoperated needle insertion. Results showed improved performance with respect to common control techniques not employing the proposed cutaneous compensation.

Pacchierotti, C., Tirmizi, S.A., Bianchini, G., Prattichizzo, D. (2013). Improving Transparency in Passive Teleoperation by Combining Cutaneous and Kinesthetic Force Feedback. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp.4958-4963). New York : IEEE [10.1109/IROS.2013.6697072].

Improving Transparency in Passive Teleoperation by Combining Cutaneous and Kinesthetic Force Feedback

PACCHIEROTTI, CLAUDIO;TIRMIZI, SYED ASAD;BIANCHINI, GIANNI;PRATTICHIZZO, DOMENICO
2013-01-01

Abstract

A novel idea for improving transparency of teleoperation systems with force feedback is presented. This approach is based on the idea of sensory subtraction presented in [12], and consists of providing the operator with independently controlled kinesthetic and cutaneous feedback to improve the realism of haptic rendering of the remote environment (i.e., transparency), while preserving stability. More specifically, cutaneous force feedback is employed to recover transparency when a lack of kinesthetic feedback has to be enforced to keep the teleoperation loop stable. The viability of this approach is demonstrated with two experiments of teleoperated needle insertion. Results showed improved performance with respect to common control techniques not employing the proposed cutaneous compensation.
9781467363587
Pacchierotti, C., Tirmizi, S.A., Bianchini, G., Prattichizzo, D. (2013). Improving Transparency in Passive Teleoperation by Combining Cutaneous and Kinesthetic Force Feedback. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp.4958-4963). New York : IEEE [10.1109/IROS.2013.6697072].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/46220