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http://dx.doi.org/10.5302/J.ICROS.2014.13.1923

Obstacle Information Transfer and Control Method using Haptic Device consist of Vibration Motors  

Lee, Dong-Hyuk (Department of Electrical Engineering, Pusan National University)
Noh, Kyung-Wook (Department of Interdisciplinary Program in Robotics, Pusan National University)
Kang, Sun Kyun (Department of Electrical Engineering, Pusan National University)
Han, Jong Ho (Department of Electrical Engineering, Pusan National University)
Lee, Jang-Myung (Department of Electrical Engineering, Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.10, 2014 , pp. 1036-1043 More about this Journal
Abstract
In this paper, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an obstacle and to avoid it. The haptic device has been attached on the top of a joystick so that the user can remotely control the mobile robot to avoid the obstacles which are recognized by the ultrasonic sensors. Also, the invisible environment is recognized more accurately overlapping the data from the ultrasonic sensors. There are five vibration motors in the haptic device to indicate the direction of the obstacle. So the direction of the obstacle can be recognized by the vibration at the finger on each vibration motor. For various situations and surrounding environments, experiments are performed using fuzzy controller and overlapping ultrasonic sensors. The results demonstrate the effectiveness of the proposed haptic joystick.
Keywords
haptic device; haptic joystick; haptic feedback; ultrasonic sensor; teleoperation;
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Times Cited By KSCI : 14  (Citation Analysis)
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