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A Haptic Continuum Interface for the Teleoperation of Extensible Continuum Manipulators

机译:用于可扩展连续管道的耳卸操作的触觉连续体界面

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We describe a novel haptic interface designed specifically for the teleoperation of extensible continuum manipulators. The proposed device is based off of, and extends to the haptic domain, a kinematically similar input device for continuum manipulators called the MiniOct. This letter describes the physical design of the new device, the method of creating impedance-type haptic feedback to users, and some of the requirements for implementing this device in a bilateral teleoperation scheme for continuum robots. We report a series of initial experiments to validate the operation of the system, including simulated and real-time conditions. The experimental results show that a user can identify the direction of planar obstacles from the feedback for both virtual and physical environments. Finally, we discuss the challenges for providing feedback to an operator about the state of a teleoperated continuum manipulator.
机译:我们描述了一种专为可伸缩连续管道的遥操作而设计的新型触觉界面。所提出的设备基于触觉域,并延伸到触觉域,用于连续式机械手称为MINIOCT的运动域。这封信描述了新设备的物理设计,为用户创建阻抗型触觉反馈的方法,以及在用于连续式机器人的双边漫步方案中实现该设备的一些要求。我们报告了一系列初始实验以验证系统的操作,包括模拟和实时条件。实验结果表明,用户可以从虚拟和物理环境的反馈中识别平面障碍的方向。最后,我们讨论了向操作员提供有关远程操作的连续体式器的状态的反馈的挑战。

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