INTELLIGENT TRANSDUCTION FOR RESPONSE SYNTHESIS IN TELEMANIPULATION

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International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic

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VOLUME 6 , ISSUE 4 (September 2013) > List of articles

INTELLIGENT TRANSDUCTION FOR RESPONSE SYNTHESIS IN TELEMANIPULATION

J. K. Mukherjee *

Keywords : proximity, telemanipulator, virtual transducer, force feedback, servo motor, active joy-stick, remote-perception, operator interface, intelligent sensing

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 6, Issue 4, Pages 1,479-1,498, DOI: https://doi.org/10.21307/ijssis-2017-600

License : (CC BY-NC-ND 4.0)

Received Date : 25-May-2013 / Accepted: 31-July-2013 / Published Online: 05-September-2013

ARTICLE

ABSTRACT

A virtual transducer forming technique has been developed with an objective to enhance remote environment perception in tele-robotic systems by adding proximity feel in pre-contact phase during remote manipulation tasks. A fluidics inspired transducer model has been conceived and designed to serve for master side perception creation based on remote robot’s proximity with workspace objects and its dynamics. Robot’s native joint sensors function as primary sensors and active joystick forms the output stage. It induces proximity feel around approachable and unapproachable parts in distinctly different manner. The paper delves in aspects like building re-configurability for varied transducer characteristics formation and tunable force exertion on operator hand for suiting application context and operator choice.

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