Haptic virtual fixtures for robot-assisted manipulation

被引：0
|
作者：
Abbott, Jake J. [1 ]
Marayong, Panadda [2 ]
Okamura, Allison M. [2 ]
机构：
[1] ETH, Inst Robot & Intelligent Syst, Zurich, Switzerland
[2] Johns Hopkins Univ, Dept Mech Engn, Baltimore, MD 21218 USA
来源：
ROBOTICS RESEARCH | 2007年 / 28卷
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Haptic virtual fixtures are software-generated force and position signals applied to human operators in order to improve the safety, accuracy, and speed of robot-assisted manipulation tasks. Virtual fixtures are effective and intuitive because they capitalize on both the accuracy of robotic systems and the intelligence of human operators. In this paper, we discuss the design, analysis, and implementation of two categories of virtual fixtures: guidance virtual fixtures, which assist the user in moving the manipulator along desired paths or surfaces in the workspace, and forbidden-region virtual fixtures, which prevent the manipulator from entering into forbidden regions of the workspace. Virtual fixtures are analyzed in the context of both cooperative manipulation and telemanipulation systems, considering issues related to stability, passivity, human modeling, and applications.
引用
收藏
页码：49 / +
页数：4
相关论文
共 50 条
  • [1] Application of Haptic Virtual Fixtures on Hot-Line Work Robot-Assisted Manipulation
    Chen, Yutao
    Zhu, Jing
    Xu, Min
    Zhang, Hao
    Tang, Xuming
    Dong, Erbao
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT IV, 2019, 11743 : 221 - 232
  • [2] Evaluation of Virtual Fixtures for Robot-Assisted Cochlear Implant Insertion
    Wilkening, Paul
    Chien, Wade
    Gonenc, Berk
    Niparko, John
    Kang, Jin U.
    Iordachita, Iulian
    Taylor, Russell H.
    2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2014, : 332 - 338
  • [3] FIXTURES FOR ROBOT-ASSISTED MANUFACTURING UNITS
    EREMIN, AV
    SOVIET ENGINEERING RESEARCH, 1985, 5 (01): : 47 - 48
  • [4] Development of a Robot-assisted Virtual Rehabilitation System with Haptic Feedback
    Liou, Yan-Bo
    Luo, Shan
    Liu, Yen-Chen
    2023 32ND IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, RO-MAN, 2023, : 1956 - 1961
  • [5] Comparison between guide plate navigation and virtual fixtures in robot-assisted osteotomy
    Yang, Qing
    Weng, Xisheng
    Xia, Chunjie
    Shi, Chao
    Liu, Jixuan
    Liang, Chendi
    Liu, Yanzhen
    Wang, Yu
    COMPUTER METHODS IN BIOMECHANICS AND BIOMEDICAL ENGINEERING, 2024, 27 (11) : 1387 - 1397
  • [6] Toward a framework integrating augmented reality and virtual fixtures for safer robot-assisted lymphadenectomy
    Chen, Ziyang
    Fan, Ke
    Cruciani, Laura
    Fontana, Matteo
    Muraglia, Lorenzo
    Ceci, Francesco
    Travaini, Laura
    Ferrigno, Giancarlo
    De Momi, Elena
    2024 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA 2024, 2024, : 3602 - 3608
  • [7] Advanced Telerobotic Underwater Manipulation Using Virtual Fixtures and Haptic Rendering
    Ryden, Fredrik
    Stewart, Andrew
    Chizeck, Howard Jay
    2013 OCEANS - SAN DIEGO, 2013,
  • [8] Vision assisted control for manipulation using virtual fixtures
    Bettini, A
    Lang, S
    Okamura, A
    Hager, G
    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4: EXPANDING THE SOCIETAL ROLE OF ROBOTICS IN THE NEXT MILLENNIUM, 2001, : 1171 - 1176
  • [9] Haptic Interface for Robot-assisted Ophthalmic Surgery
    Barthel, A.
    Trematerra, D.
    Nasseri, M. A.
    Zapp, D.
    Lohmann, C. P.
    Knoll, A.
    Maier, M.
    2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2015, : 4906 - 4909
  • [10] Haptic Feedback in Robot-assisted Endovascular Catheterization
    Song, Yu
    Guo, Shuxiang
    Zhang, Linshuai
    Yu, Miao
    2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), 2017, : 404 - 409
12345