Browse > Article
http://dx.doi.org/10.5370/KIEE.2015.64.4.586

Force Feedback System of Telepresence Robot for Remote Operation  

Hwang, Jung-Uk (Dept. of Robot and Control Eng., Chungbuk National University)
Park, Tae-Hyoung (School. of Electronics Eng., Chungbuk National University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.64, no.4, 2015 , pp. 586-591 More about this Journal
Abstract
This paper proposes a force feedback system of telepresence robot for remote operation. The ultrasonic sensors attached at the robot detect the obstacles, and generate the force to the operation joystick. In order to consider the network delay, we developed the fuzzy control system using ultrasonic data and robot speed. The method to calculate the force vector from the ultrasonic data is also presented to operate the robot more accurately. The simulation and experimental results are presented to verify the safe and accurate operation of the proposed system.
Keywords
Force feedback; Telepresence robot; Fuzzy control; Remote operation;
Citations & Related Records
연도 인용수 순위
  • Reference
1 X. Xue and X.Y. Simon, “Remote Sensing and Teleoperation of a Mobile Robot via the Internet”, IEEE International Conference on Information Acquisition, pp.102-108, 2005.
2 I. Farkhatdinov, J.H. Ryu and J. An, “A preliminary experimental study on haptic teleoperation of mobile robot with variable force feedback gain”,IEEE Haptics Symposium, pp.251 - 256, 2010.
3 J.B. Park and B.h. Lee, “Reflective force integration method for nonautonomous mobile robot control”, IEEE International Conference on Robotics and Automation, vol.4, pp.3950 – 3955, 2004.
4 A. Fattouh, M. Sahnoun and G. Bourhis, “Force feedback joystick control of a powered wheelchair: preliminary study”, IEEE International Conference on Systems, Man and Cybernetics, vol.3, pp.2640-2645, 2004.
5 A. Takemoto, K. Yano and K. Terashima, “Obstacle avoidance control system of rotary crane using proposed haptic joystick”, IEEE, Eurohaptics Conference, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics, pp.662 - 663, 2005.
6 A.K. Ko and J.Y. Choi, “A haptic interface using a force-feedback joystick”, SICE, pp.202 - 207, 2007.
7 S. Kodagoda, E.A.S.M. Hemachandra, P.G. Jayasekara, R.L. Peiris, A.C.D. Silva and R. Munasinghe, “Obstacle Detection and Map Building with a Rotating Ultrasonic Range Sensor using Bayesian Combination,”, International Conference on ICIA, pp. 98-103, 2006.
8 A. Ohya, Y. Nagashima and S.C. Yuta, “Exploring Unknown Environment and Map Construction Using Ultrasonic Sensing of Normal Direction of Walls”, IEEE International Conference on Robotics and Automation, vol.1, pp.485–492, 1994.
9 P.S. Green, “Telepresence surgery”, Engineering in Medicine and Biology Magazine, vol.14, no.3, pp.324 – 329, 1995.   DOI   ScienceOn
10 R.J. Schultz, “Telepresence mobile robot for security applications”, International Conference on IECON, vol.2, pp.1063 – 1066, 1991.
11 I. Farkhatdinov, J.H. Ryu and J. Poduraev, “A user study of command strategies for mobile robot teleoperation”, Intelligent Service Robotics, vol.2, no.2, pp.95 – 104, 2009.   DOI
12 S.K. Agrawal., X. Chen, C. Ragonesi and J.C. Galloway, “Training Toddlers Seated on Mobile Robots to Steer Using Force-Feedback Joystick”, IEEE Transactions on Haptics, vol.5, no.4, pp.376 - 383, 2012.   DOI   ScienceOn