DocumentCode :
399480
Title :
Evaluation on effect of errors on haptic information in wireless communication system
Author :
Marugame, Takeshi ; Kamikura, Atsushi ; Ohnishi, Makoto ; Nakagawa, Masao
Author_Institution :
Dept. of Inf. & Comput. Sci., Keio Univ., Yokohama, Japan
Volume :
3
fYear :
2003
fDate :
27-31 Oct. 2003
Firstpage :
2950
Abstract :
In recent years, haptics, robotic and networking technology advancements bas brought about networking of various systems. As a result, the spotlight was placed on humanitarian assistance using networks, for example, remote robotic manipulation, which allows for remote surgery and removal of hazardous materials such as landmines and explosives. Most of the research done on robotic manipulation had been carried out using a wired system. Although, there are few researches done with wireless systems, they are not developed for complicated systems such as a robot hand simulating human hand. Using a bilateral robot hand, we have simulated a wireless network through introduction of errors. The bilateral robot hand is compliance-controlled, in which position information is transmitted from the master robot hand to slave robot hand, while force information is transmitted back from the slave robot hand to the master robot hand. Errors were inserted into each of the transmitted information. By evaluating the position trace of simulation and experimental results, we have concluded the effect of errors on haptic information.
Keywords :
compliance control; errors; force control; haptic interfaces; position control; telerobotics; wireless LAN; bilateral robot; compliance control; errors; explosives; force information; haptic information; hazardous materials; humanitarian assistance; landmines; master robot hand; networking technology; position information; remote robotic manipulation; remote surgery; robot hand simulating human hand; robotic manipulation; robotic technology; slave robot hand; wireless communication system; wireless network; wireless systems; Computer errors; Explosives; Haptic interfaces; Hazardous materials; Humans; Landmine detection; Master-slave; Robots; Surgery; Wireless communication;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
Type :
conf
DOI :
10.1109/IROS.2003.1249319
Filename :
1249319
Link To Document :
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