{"title":"Virtual environment for robotic tele-rehabilitation","authors":"J. Tang, C. Carignan, S. Gattewar","doi":"10.1109/ICORR.2005.1501121","DOIUrl":null,"url":null,"abstract":"Haptic and visual displays are combined to realize cooperative, force-feedback tasks over the Internet. The operators \"exert\" forces on a virtual object which in turn generates a set of reaction forces to be displayed on the haptic devices. A novel cooperative control architecture based on wave variables is implemented to realize stable operation in the presence of time delays. The control scheme is validated experimentally for a manipulation task over the Internet using a pair of InMotion2 robots. Preliminary results are also presented for 3D tasks rendered on a head-mounted display equipped with a head tracker for changing viewing angles.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"5 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"17","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICORR.2005.1501121","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 17
Abstract
Haptic and visual displays are combined to realize cooperative, force-feedback tasks over the Internet. The operators "exert" forces on a virtual object which in turn generates a set of reaction forces to be displayed on the haptic devices. A novel cooperative control architecture based on wave variables is implemented to realize stable operation in the presence of time delays. The control scheme is validated experimentally for a manipulation task over the Internet using a pair of InMotion2 robots. Preliminary results are also presented for 3D tasks rendered on a head-mounted display equipped with a head tracker for changing viewing angles.