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• W1525752340 abstract "Haptic feedback offers the potential to increase the quality and capability of human-machine interactions as well as the ability to skillfully manipulate objects by exploiting the sense of touch (Lin & Salisbury, 2004). Previous studies on haptic feedback systems typically dealt with virtual reality (VR)-based simulations, and telemanipulation systems. VR-based simulation systems used haptic information for various applications such as gaming (Morris, 2004), surgical simulations (Basdogan et al., 2004), or molecular simulations (Ferreira, 2006) in order to provide realistic virtual experiences along with sound and graphic rendering. In telemanipulation, haptic feedback has been studied in the fields of robotic guidance and obstacle avoidance (Hassanzadeh et al., 2005), robotic surgery (Mayer et al., 2007; Wagner et al., 2007) and micro/nano manipulation (Sitti & Hashimoto, 2003, Ammi et al., 2006). According to these studies, the feedback of haptic information to an operator can improve performance and provide telepresence. For example, in nanoor bio-manipulation applications, where the operator manipulates a micro-scale object with limited twodimensional vision feedback through a microscope, haptic assistance can be used to provide the depth information, generate virtual fixtures or guides and thus improve the operator manipulation final quality (e.g., operation time and efficiency). The goal of telemanipulation is to create a human operator interaction with a remote environment as closely as possible. Such a goal can be realized by (i) obtaining the available information of the slave site, such as the geometry, kinematic information, and material properties; (ii) applying this information to a user with high-fidelity master devices; and (iii) efficiently conveying the user response to the slave environment through actuating systems. Although many studies on the technical issues encountered in telemanipulation have been carried out, sensing the force information and its reflection to a user still constitutes a challenging issue because of problems associated with sensor design and force rendering. Sensing the force information of a slave environment is a prerequisite in order to display a user force feedback during manipulation tasks. For example, the realization of a force feedback in telemanipulation has mainly been done thus far by integrating force sensors into a slave site to measure reaction forces between a slave robot and the environment. The 26" @default.
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• W1525752340 date "2010-09-01" @default.
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• W1525752340 title "Vision-Based Haptic Feedback with Physically-Based Model for Telemanipulation" @default.
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• W1525752340 doi "https://doi.org/10.5772/10318" @default.
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