Field Robot Teleoperation via Vibrotactile User Interface

Title
Field Robot Teleoperation via Vibrotactile User Interface
Authors
양기훈이우섭강성철김문상
Issue Date
2010-05
Publisher
HUDEM2010
Citation
, p22
Abstract
In order to prevent dangerous situations in the demining process, a heavy class mobile robot system should be controlled via teleoperation. An attempt to combine a tactile display with an input device for teleoperation was conducted. A new 6DOF bilateral haptic device, which provides a spatial sensation on the handle using vibrotactile display, is proposed in this research. The sphere-shaped handle is designed to be covered with several pieces of vibrating panels. When a specific panel is activated, the user perceives the spatial location and the direction of the vibrotactile stimulus during control operation. We introduce the design of the proposed device, including the selection guide of the dimension, location, and number of vibrotactile panels. The method for combination of vibrotactile stimulus and the way to achieve fine resolution with small number of tactors are discussed. Experimental results show that the users can reliably perceive the spatial and directional information using the proposed device. A field robot that can be controlled by the developed haptic device was also simulated in the virtual environment.
URI
http://pubs.kist.re.kr/handle/201004/39104
Appears in Collections:
KIST Publication > Conference Paper
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