Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2014.14.9039

Tactile Navigation System using a Haptic Device  

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)
Kim, Hyun Woo (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.8, 2014 , pp. 807-814 More about this Journal
Abstract
In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.
Keywords
haptic navigation; haptic joystick; haptic device; tele-operation; mobile robot; virtual force; collision vector;
Citations & Related Records
Times Cited By KSCI : 9  (Citation Analysis)
연도 인용수 순위
1 H. Kim, K.-U. Kyung, J. Park, and D. Han, "The state-of-the-art on Haptic Interface," Journal of Information Technology, vol. 8, no. 1, pp. 7-15, Dec. 2010.
2 H. Kim and J.-H. Ryu, "The effect of asynchronous haptic and video feedback on teleoperation and a comment for improving the performance," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 2, pp. 156-160, Feb. 2012.   과학기술학회마을   DOI   ScienceOn
3 A.-K. Ko, J.-Y. Choi, H.-C. Kim, and J.-M. Lee, "A haptic interface using a force-feedback joystick," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 13, no. 12, pp. 1207-1212, Dec. 2007.   과학기술학회마을   DOI   ScienceOn
4 H.-J. Yeo and M.-H. Sung, "Fuzzy control for the obstacle avoidance of remote control mobile robot," Journal of the Institute of Electronics Engineers of Korea (in Korean), vol. 48, no. 1, pp. 47-54, Jan. 2011.   과학기술학회마을
5 X. Tang, H. Yamada, D. Zhao, and T. Ni, "Haptic interaction in tele-operation control system of construction robot based on virtual," Proc. of the 2009 IEEE International Conference on Mechatronics and Automation, pp. 78-83, 9-12 Aug. 2009.
6 J. M. Sabater, R. Aracil, R. J. Saltaren, and L. Paya, "A novel parallel haptic interface for telerobotic systems," Advances in Telerobotics, vol. 31, pp. 45-59, Aug. 2007.   DOI
7 K. U. Kyung and J. S. Park, "The state of the art and R&D perceptives on haptics," Electronics and Telecommunications Trends, vol. 21, no. 5, pp. 93-108, Oct. 2006.   과학기술학회마을
8 T. S. Jin, "Object avoidance of mobile robot with virtual impedance," Journal of Korean Institute of Intelligent Systems, vol. 19, no. 4, pp. 451-456, Aug. 2009.   DOI   ScienceOn
9 H.-S. Kim and H.-J. Kang, "Design of remote manipulator control system using PHANToM device," Power Electronics Conference 2005, pp. 595-597, Jul. 2005.   과학기술학회마을
10 M. C. Kim, "The present and the future of haptic interfaces," Weekly Technology Trends, vol. 1204, pp. 28-364, 2005.
11 D.-G. Seo, E.-T. Lyu, and J. M. Lee, "Dynamic obstacle avoidance of a mobile robot using a collision vector," Journal of Control, Automation, and Systems Engineering (in Korean), vol. 13, no. 7, pp. 631-636, 2007.   과학기술학회마을   DOI
12 S. Han and J. M. Lee, "Tele-operation of a mobile robot using a force reflection joystick with a single hall sensor," 16th IEEE International Conference on Robot & Human Interactive Communication, pp. 206-211, Aug. 2007.
13 Y. K. Choi, W. S. Choi, and J. B. Song, "Obstacle avoidance of a mobile robot using low-cost ultrasonic sensors with wide bean angle," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 15, no. 11, pp. 1102-1107, Nov. 2009.   DOI   ScienceOn
14 S. B. Kim and S. H. Lee, "Design of overlapped ultrasonic sensor ring and its application to obstacle detection," Journal of the Institute of Signal Processing and Systems, vol. 11, no. 1, pp. 63-73, Jan. 2010.   과학기술학회마을
15 S. B. Kim and S. H. Lee, "Positional uncertainty reduction of overlapped ultrasonic sensor ring for efficient mobile robot obstacle detection," Journal of Institute of Signal Processing and Systems, vol. 10, no. 3, pp. 198-206, Jul. 2009.   과학기술학회마을