TY - JOUR
AU - Bruno, Guy
AB - The problem of providing model-based proximity cues using force reflection for teleoperation under time delay is addressed. A novel use of artificial potential fields is proposed as a teleoperator aid to efficiently provide a predictive tactile display. Several new artificial potential models are presented which are used to convey accurate shape and proximity information by generating handcontroller forces based on the potential gradient. These new potential gradients are shown to have an efficient implementation via exact computation as a neural network. A real-time prototype implementation and integration with Martin Marietta's teleautonomous testbed is discussed. Evaluations are made with human operators performing tasks using industrial manipulators under time delay scenarios.
TI - Real-time proximity cues for teleoperation using model-based force reflection
JF - Proceedings of SPIE
DO - 10.1117/12.56771
DA - 1992-03-01
UR - https://www.deepdyve.com/lp/spie/real-time-proximity-cues-for-teleoperation-using-model-based-force-mcE0dNbGbt
SP - 346
EP - 355
VL - 1612
IS - 1
DP - DeepDyve
ER -