Development of a Force Feedback System for Omni-Directional Telepresence Robot

摘要

This paper describes an existing force feedback system for an omni-directional telepresence robot developed by Chungbuk National University and its implementation with force feedback. The method proposed in this paper features force feedback on a joystick in order to reduce the risk caused by the delay between communications and to help a remote user safely adjust the robot when an unexpected situation occurred or obstacle is detected. This method complements the method being used in existing telepresence systems based on remote control, only depends on a camera and ultrasonic sensors to reduce the delay between communications. Additionally, it takes into account the moving speed of the robot. It is shown through experiments that the proposed method can detect obstacles effectively and print out the force feedback suited to a situation using force feedback based on fuzzy control.