Title :
Telepresence for touch and proprioception in teleoperator systems
Author :
Hagner, David G. ; Webster, John G.
Author_Institution :
Dept. of Electr. & Comput. Eng., Wisconsin Univ., Madison, WI, USA
Abstract :
The control and operation of mechanical manipulators by a human and the use of sensory tactile and force feedback is reviewed. The terms telepresence, teleproprioception, and teletouch are defined and relevant technologies that have or could have been applied to teleoperation are discussed. An ideal method of tactile sensory feedback for teleoperators that is based upon reproduction of the object´s contour is discussed, and its practicality considered. Previously developed components that could be used to build a system incorporating sensory tactile and force feedback are presented
Keywords :
feedback; man-machine systems; materials handling; tactile sensors; telecontrol; force feedback; materials handling; mechanical manipulators; sensory tactile; teleoperator systems; telepresence; teleproprioception; Control systems; Force control; Force feedback; Humans; Joints; Manipulators; Muscles; NASA; Space technology; Teleoperators;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
