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Haptic telemanipulation in extensive remote environments

Peer, Angelika; Unterhinninghofen, U.; Lee, K.K.; Stanczyk, B.; Buss, M.

Authors

Angelika Peer

U. Unterhinninghofen

K.K. Lee

B. Stanczyk

M. Buss



Abstract

We present a telepresence system with visual and haptic feedback for a telemanipulation task in full six degrees-of-freedom. The employed teleoperator consists of an anthropomorphic manipulator arm mounted on a mobile base to allow task execution in wide remote environments. On the operator side we use a hyperredundant force-reflecting input device. Control issues of operator and teleoperator and the coupling between them is discussed. Experimental results validate the approach.

Citation

Peer, A., Unterhinninghofen, U., Lee, K., Stanczyk, B., & Buss, M. (2005, October). Haptic telemanipulation in extensive remote environments. Paper presented at Joint International COE/HAM SFB-453 Workshop on Human Adaptive Mechatronics and High-Fidelity Telepresence, Tokyo, Japan

Presentation Conference Type Conference Paper (unpublished)
Conference Name Joint International COE/HAM SFB-453 Workshop on Human Adaptive Mechatronics and High-Fidelity Telepresence
Conference Location Tokyo, Japan
Start Date Oct 6, 2005
End Date Oct 6, 2005
Publication Date Oct 6, 2005
Peer Reviewed Peer Reviewed
Keywords haptics, telemanipulation, remote environments
Public URL https://uwe-repository.worktribe.com/output/1046916
Publisher URL http://web.lsr.ei.tum.de/Files/Workshop%20Program.pdf
Additional Information Title of Conference or Conference Proceedings : Joint International COE/HAM SFB-453 Workshop on Human Adaptive Mechatronics and High-Fidelity Telepresence


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