This contribution focuses its objective in describing the design and implementation of an innovat... more This contribution focuses its objective in describing the design and implementation of an innovative system to provide cognitive rehabilitation. People who will take advantage of this platform suffer from a post-stroke disease called Apraxia and Action Disorganisation Syndrome (AADS). The platform has been integrated at Universidad Politécnica de Madrid and tries to reduce the stay in hospital or rehabilitation center by supporting self-rehabilitation at home. So, the system acts as an intelligent machine that guides patients while executing Activities of Daily Living (ADL),
Internet Telerobotics presents many interesting aspects within the context of master/slave teleop... more Internet Telerobotics presents many interesting aspects within the context of master/slave teleoperation like variable bandwidth and time-delays. Some of these aspects have been treated in the literature from the control point of view. However, only a few works are related to the way internet protocols can help to minimize the effect of delay and bandwidth fluctuation on teleoperation. In this paper we present the capabilities of TCP, UDP, TCP Las Vegas, TEAR, and Trinomial protocols when performing an Internet teleoperation. The comparative analysis is presented through simulations within the NS2 platform. Conclusions present a set of requirements that are necessary in order to define the SNRTP protocol (Simple Network Robot Transport Protocol), which is specifically being designed for Internet teleoperation. The SNRTP protocol tries to minimize the end-to-end timedelay by using as much bandwidth and possible (e.g asymmetric networks), and maintaining the TCP-Friendly criteria. Mor...
This paper describes CAN application in a modular robot system. RobMAT is made up of modules that... more This paper describes CAN application in a modular robot system. RobMAT is made up of modules that form a new structure called molecule when they are joined together. Every molecule has a master module, which is in charge of receiving external message and retransmitting to the rest of the modules by CAN bus. The message contains all related information about movement control references, sensor data and module synchronization. CAN features allow faster transmission of up to 1Mbit/s. It is also flexible to connecting another CAN device. Such features make CAN appropriate for this application. Task performance using modular robots requires flawless communication among modules; therefore, synchronization is a key factor to take into account where in CAN plays an important role. The importance of synchronization requires a dedicated mailbox to manage it among the modules. Each module comes with a clock in order to process information by itself and correspondingly synchronize. Among the mo...
This chapter introduces the main topics of a telerobotic system. It describes the architecture of... more This chapter introduces the main topics of a telerobotic system. It describes the architecture of such a system from a general point of view and emphasizes the interaction between a human operator and a robot that performs the task in the remote environment. Furthermore it focuses on multi-modal human system interfaces and explains the main features of haptic, auditory, and visual interfaces. Finally important issues for the measurement and evaluation of the attribute telepresence are described.
2019 Third IEEE International Conference on Robotic Computing (IRC)
The most important features of autonomous Search And Rescue robots are abilities to autonomously ... more The most important features of autonomous Search And Rescue robots are abilities to autonomously detect victims and assess their basic vital parameters, such as respiration and heartbeat status, by using their on-board sensors to classify survivors according to their need of medical care. This paper presents a novel sensor composition for autonomous victim detection and non-contact respiration monitoring with SAR robots having limited on-board computational power, using a combination of commercial low-cost components-a visual sensor and Ultra-Wide Band radar. In the proposed method, a pretrained neural network (MobileNet) is used to process camera frames and detect human presence in real-time. Once the victim is localized, the radar is used to perform respiration monitoring. The proposed method is evaluated by building a prototype and performing measurements on volunteers in different positions, clothing and amount of subjects in frame.
Recovery of therapeutic or functional ambulatory capacity in patients with rotator cuff injury is... more Recovery of therapeutic or functional ambulatory capacity in patients with rotator cuff injury is a primary goal of rehabilitation. Wearable powered exoskeletons allow patients to perform repetitive practice with large movements to maximize recovery, even immediately after the acute event. The aim of this paper is to describe the usability, acceptability and acceptance of a hybrid exoskeleton for upper-limb passive rehabilitation using the System Usability Scale (SUS) questionnaire. This equipment, called ExoFlex, is defined as a hybrid exoskeleton since it is made up of rigid and soft components. The exoskeleton mechanical description is presented along with its control system and the way motion is structured in rehabilitation sessions. Seven patients (six women and one man) have participated in the evaluation of this equipment, which are in the range of 50 to 79 years old. Preliminary evidence of the acceptance and usability by both patients and clinicians are very promising, obta...
Flexible soft exoskeletons, so-called exosuits, are robotic devices that interact with their user... more Flexible soft exoskeletons, so-called exosuits, are robotic devices that interact with their users to assist or enhance muscle performance. Their lightweight design and lack of rigid parts allow assisting the user's natural motion without any constraints. They are thereby valuable in carrying out daily labour tasks and performing active stances of rehabilitation. Nonetheless, the usage of these devices in long-term applications demands anatomically adaptive designs and mechanisms to tackle textile artefacts and discrepancies in the human constitution. The soft exoskeleton described in this article is a textile-wearable design that assists shoulder and elbow flexion. The cable-driven actuation is embedded in a jacket by using several textiles and deformable parts. The inconveniences of using textile such as slipping, dampening, and pressure sores are tackled by combining textile layers with force-compliant sewing. The design also includes pieces for cable guidance, anchoring and support. These parts employ different tailoring methods so as to ease fabrication, wearing and cleaning. The motors and electronics, whose design is compatible with textiles too, are placed in a backpack. This configuration reduces forces from loads in motion and weight on the arm. Finally, the last part of the document discusses the preliminary results that have been obtained from four subjects who have worn the device.
Motion tracking techniques have been extensively studied in recent years. However, capturing move... more Motion tracking techniques have been extensively studied in recent years. However, capturing movements of the upper limbs is a challenging task. This document presents the estimation of arm orientation and elbow and wrist position using wearable flexible sensors (WFSs). A study was developed to obtain the highest range of motion (ROM) of the shoulder with as few sensors as possible, and a method for estimating arm length and a calibration procedure was proposed. Performance was verified by comparing measurement of the shoulder joint angles obtained from commercial two-axis soft angular displacement sensors (sADS) from Bend Labs and from the ground truth system (GTS) OptiTrack. The global root-mean-square error (RMSE) for the shoulder angle is 2.93 degrees and 37.5 mm for the position estimation of the wrist in cyclical movements; this measure of RMSE was improved to 13.6 mm by implementing a gesture classifier.
This article describes the performance of a flexible resistive sensor network to track shoulder m... more This article describes the performance of a flexible resistive sensor network to track shoulder motion. This system monitors every gesture of the human shoulder in its range of motion except rotations around the longitudinal axis of the arm. In this regard, the design considers the movement of the glenohumeral, acromioclavicular, sternoclavicular, and scapulothoracic joints. The solution presented in this work considers several sensor configurations and compares its performance with a set of inertial measurement units (IMUs). These devices have been put together in a shoulder suit with Optitrack visual markers in order to be used as pose ground truth. Optimal configurations of flexible resistive sensors, in terms of accuracy requirements and number of sensors, have been obtained by applying principal component analysis techniques. The data provided by each configuration are then mapped onto the shoulder pose by using neural network algorithms. According to the results shown in this article, a set of flexible resistive sensors can be an adequate alternative to IMUs for multiaxial shoulder pose tracking in open spaces. Furthermore, the system presented can be easily embedded in fabric or wearable devices without obstructing the user's motion.
Abstract The International Fusion Materials Irradiation Facility-DEMO Oriented Neutron Source (IF... more Abstract The International Fusion Materials Irradiation Facility-DEMO Oriented Neutron Source (IFMIF-DONES) consists of complex systems and massive components that need to be on site assembled and maintained. For several of them it is required to perform maintenance, inspection and monitoring tasks over many years in a hostile environment and in efficient, safe and reliable manner. The maintenance of IFMIF-DONES’ systems and components, located mainly in the Test Systems (TS), in the Lithium Systems (LS) and in the Accelerator Systems (AS), is classified as a Remote Handling (RH) Class 1st activity and as such is considered a crucial and essential activity whose success will strictly depend on the IFMIF-DONES RH capability. According to this, a Remote Handling System (RHS) for IFMIF-DONES, which comprises the whole set of Remote Handling Equipment and tooling for the execution of maintenance tasks, has been designed. A wide range of technologies is involved: special cranes, manipulator arms, lift interface frames, special cameras, control systems and virtual reality. In this paper an overview on status of the design of the main robotic systems and tooling of the RHS of IFMIF-DONES, including design requirements, functions and maintenance tasks to be performed, is given.
This paper is focused on the development of a haptic vest to enhance immersion and realism in vir... more This paper is focused on the development of a haptic vest to enhance immersion and realism in virtual environments, through vibrotactile feedback. The first steps to achieve touch-based communication are presented in order to set an actuation method based on vibration motors. Resulting vibrotactile patterns helping users to move inside virtual reality (VR). The research investigates human torso resolution and perception of vibration patterns, evaluating different kind of actuators at different locations on the vest. Finally, determining an appropriate distribution of vibration patterns allowed the generation of sensations that, for instance, help to guide in a mixed or virtual reality environment.
2014 5th International Conference on Intelligent Systems, Modelling and Simulation, 2014
Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing rad... more Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing radiation or other hazardous environments. Having a reliable robot system is essential for successful execution of missions and to avoid manual recovery of the robots in environments that are harmful to human beings. For deployment of robots missions at short notice, the ability to know beforehand the energy required for performing the task is essential. This paper presents a on-line method for predicting energy requirements based on the predetermined power models for a mobile robot. A small mobile robot, Khepera III is used for the experimental study and the results are promising with high prediction accuracy. The applications of the energy prediction models in energy optimization and simulations are also discussed along with examples of significant energy savings.
Vast majority of haptic applications are focused on single contact point interaction between the ... more Vast majority of haptic applications are focused on single contact point interaction between the user and the virtual scenario. One contact point is suitable for haptic applications such as palpation or object exploration. However, two or more contact points are required for more complex tasks such as grasping or object manipulation. Traditionally, when single-point haptic devices are applied in a complex task, a key or a switch is used for grasping objects. Using multiple contact points for this kind of complex manipulation tasks significantly increases the realism of haptic interactions. Moreover, virtual scenarios with multiple contact points also allow developing multi-user cooperative virtual manipulation since several users simultaneously interact over the same scenario and perceive the actions being performed by others. It represents a step forward in the current haptic applications that are usually based on one single user.
In this chapter, a scalable, multi-finger haptic device based on modular configuration is present... more In this chapter, a scalable, multi-finger haptic device based on modular configuration is presented. The mechanical design is based on a modular configuration with a redundant degree of freedom in which each module represents one finger. Mechanical configuration has been optimized to provide a device, which is as transparent as possible to the user. A general description of the control requirements and the implementation to control these types of devices are presented. Applications of modular multi-finger haptic devices include advanced virtual manipulation and simulators for training precise manual tasks. In this chapter, applications for precise manipulation including haptic and visual feedback are presented. Three scenarios have been developed in order to analyze human factors, train manual manipulations and test the performance of the system: (i) a simulator to train physiotherapists to do rehabilitation procedures, (ii) manipulation of fragile objects, and (iii) collaborative manipulation to lift an object between two users.
Advances in Intelligent Systems and Computing, 2014
In the hazardous environments present in particle accelerators and nuclear facilities require mai... more In the hazardous environments present in particle accelerators and nuclear facilities require maintenance and specific type of interventions. The maintenance task by the intervening personnel are planned to ensure personal safety but they are sometimes exposed to residual radiation. Hence inclusion of robotic systems into these environmental conditions are being encouraged to increase the availability of the facility and reduce personal radiation doses. However, the environment and tasks required present challenging conditions for robotic systems in terms of design, architecture, task planning and execution. This paper presents and addresses the hardware and software design choice of a modular robotic system as solution to overcome the challenges and presents a prototype heterogeneous modular robot system (SMART) . The simulation results of robot configurations overcoming the challenges is also presented.
Abstract This paper describes a multi-finger haptic interface called MasterFinger which is being ... more Abstract This paper describes a multi-finger haptic interface called MasterFinger which is being developed by the Universidad Politecnica de Madrid, Spain. An index and thumb finger prototype has already been implemented. Details about this device and how it is integrated into haptic scenarios are hereby explained. The paper includes mechanical and control description of the device, as well as some examples of the developed scenarios.
This chapter introduces the main topics of a telerobotic system. It describes the architecture of... more This chapter introduces the main topics of a telerobotic system. It describes the architecture of such a system from a general point of view and emphasizes the interaction between a human operator and a robot that performs the task in the remote environment. Furthermore it focuses on multi-modal human system interfaces and explains the main features of haptic, auditory, and visual interfaces. Finally important issues for the measurement and evaluation of the attribute telepresence are described.
This contribution focuses its objective in describing the design and implementation of an innovat... more This contribution focuses its objective in describing the design and implementation of an innovative system to provide cognitive rehabilitation. People who will take advantage of this platform suffer from a post-stroke disease called Apraxia and Action Disorganisation Syndrome (AADS). The platform has been integrated at Universidad Politécnica de Madrid and tries to reduce the stay in hospital or rehabilitation center by supporting self-rehabilitation at home. So, the system acts as an intelligent machine that guides patients while executing Activities of Daily Living (ADL),
Internet Telerobotics presents many interesting aspects within the context of master/slave teleop... more Internet Telerobotics presents many interesting aspects within the context of master/slave teleoperation like variable bandwidth and time-delays. Some of these aspects have been treated in the literature from the control point of view. However, only a few works are related to the way internet protocols can help to minimize the effect of delay and bandwidth fluctuation on teleoperation. In this paper we present the capabilities of TCP, UDP, TCP Las Vegas, TEAR, and Trinomial protocols when performing an Internet teleoperation. The comparative analysis is presented through simulations within the NS2 platform. Conclusions present a set of requirements that are necessary in order to define the SNRTP protocol (Simple Network Robot Transport Protocol), which is specifically being designed for Internet teleoperation. The SNRTP protocol tries to minimize the end-to-end timedelay by using as much bandwidth and possible (e.g asymmetric networks), and maintaining the TCP-Friendly criteria. Mor...
This paper describes CAN application in a modular robot system. RobMAT is made up of modules that... more This paper describes CAN application in a modular robot system. RobMAT is made up of modules that form a new structure called molecule when they are joined together. Every molecule has a master module, which is in charge of receiving external message and retransmitting to the rest of the modules by CAN bus. The message contains all related information about movement control references, sensor data and module synchronization. CAN features allow faster transmission of up to 1Mbit/s. It is also flexible to connecting another CAN device. Such features make CAN appropriate for this application. Task performance using modular robots requires flawless communication among modules; therefore, synchronization is a key factor to take into account where in CAN plays an important role. The importance of synchronization requires a dedicated mailbox to manage it among the modules. Each module comes with a clock in order to process information by itself and correspondingly synchronize. Among the mo...
This chapter introduces the main topics of a telerobotic system. It describes the architecture of... more This chapter introduces the main topics of a telerobotic system. It describes the architecture of such a system from a general point of view and emphasizes the interaction between a human operator and a robot that performs the task in the remote environment. Furthermore it focuses on multi-modal human system interfaces and explains the main features of haptic, auditory, and visual interfaces. Finally important issues for the measurement and evaluation of the attribute telepresence are described.
2019 Third IEEE International Conference on Robotic Computing (IRC)
The most important features of autonomous Search And Rescue robots are abilities to autonomously ... more The most important features of autonomous Search And Rescue robots are abilities to autonomously detect victims and assess their basic vital parameters, such as respiration and heartbeat status, by using their on-board sensors to classify survivors according to their need of medical care. This paper presents a novel sensor composition for autonomous victim detection and non-contact respiration monitoring with SAR robots having limited on-board computational power, using a combination of commercial low-cost components-a visual sensor and Ultra-Wide Band radar. In the proposed method, a pretrained neural network (MobileNet) is used to process camera frames and detect human presence in real-time. Once the victim is localized, the radar is used to perform respiration monitoring. The proposed method is evaluated by building a prototype and performing measurements on volunteers in different positions, clothing and amount of subjects in frame.
Recovery of therapeutic or functional ambulatory capacity in patients with rotator cuff injury is... more Recovery of therapeutic or functional ambulatory capacity in patients with rotator cuff injury is a primary goal of rehabilitation. Wearable powered exoskeletons allow patients to perform repetitive practice with large movements to maximize recovery, even immediately after the acute event. The aim of this paper is to describe the usability, acceptability and acceptance of a hybrid exoskeleton for upper-limb passive rehabilitation using the System Usability Scale (SUS) questionnaire. This equipment, called ExoFlex, is defined as a hybrid exoskeleton since it is made up of rigid and soft components. The exoskeleton mechanical description is presented along with its control system and the way motion is structured in rehabilitation sessions. Seven patients (six women and one man) have participated in the evaluation of this equipment, which are in the range of 50 to 79 years old. Preliminary evidence of the acceptance and usability by both patients and clinicians are very promising, obta...
Flexible soft exoskeletons, so-called exosuits, are robotic devices that interact with their user... more Flexible soft exoskeletons, so-called exosuits, are robotic devices that interact with their users to assist or enhance muscle performance. Their lightweight design and lack of rigid parts allow assisting the user's natural motion without any constraints. They are thereby valuable in carrying out daily labour tasks and performing active stances of rehabilitation. Nonetheless, the usage of these devices in long-term applications demands anatomically adaptive designs and mechanisms to tackle textile artefacts and discrepancies in the human constitution. The soft exoskeleton described in this article is a textile-wearable design that assists shoulder and elbow flexion. The cable-driven actuation is embedded in a jacket by using several textiles and deformable parts. The inconveniences of using textile such as slipping, dampening, and pressure sores are tackled by combining textile layers with force-compliant sewing. The design also includes pieces for cable guidance, anchoring and support. These parts employ different tailoring methods so as to ease fabrication, wearing and cleaning. The motors and electronics, whose design is compatible with textiles too, are placed in a backpack. This configuration reduces forces from loads in motion and weight on the arm. Finally, the last part of the document discusses the preliminary results that have been obtained from four subjects who have worn the device.
Motion tracking techniques have been extensively studied in recent years. However, capturing move... more Motion tracking techniques have been extensively studied in recent years. However, capturing movements of the upper limbs is a challenging task. This document presents the estimation of arm orientation and elbow and wrist position using wearable flexible sensors (WFSs). A study was developed to obtain the highest range of motion (ROM) of the shoulder with as few sensors as possible, and a method for estimating arm length and a calibration procedure was proposed. Performance was verified by comparing measurement of the shoulder joint angles obtained from commercial two-axis soft angular displacement sensors (sADS) from Bend Labs and from the ground truth system (GTS) OptiTrack. The global root-mean-square error (RMSE) for the shoulder angle is 2.93 degrees and 37.5 mm for the position estimation of the wrist in cyclical movements; this measure of RMSE was improved to 13.6 mm by implementing a gesture classifier.
This article describes the performance of a flexible resistive sensor network to track shoulder m... more This article describes the performance of a flexible resistive sensor network to track shoulder motion. This system monitors every gesture of the human shoulder in its range of motion except rotations around the longitudinal axis of the arm. In this regard, the design considers the movement of the glenohumeral, acromioclavicular, sternoclavicular, and scapulothoracic joints. The solution presented in this work considers several sensor configurations and compares its performance with a set of inertial measurement units (IMUs). These devices have been put together in a shoulder suit with Optitrack visual markers in order to be used as pose ground truth. Optimal configurations of flexible resistive sensors, in terms of accuracy requirements and number of sensors, have been obtained by applying principal component analysis techniques. The data provided by each configuration are then mapped onto the shoulder pose by using neural network algorithms. According to the results shown in this article, a set of flexible resistive sensors can be an adequate alternative to IMUs for multiaxial shoulder pose tracking in open spaces. Furthermore, the system presented can be easily embedded in fabric or wearable devices without obstructing the user's motion.
Abstract The International Fusion Materials Irradiation Facility-DEMO Oriented Neutron Source (IF... more Abstract The International Fusion Materials Irradiation Facility-DEMO Oriented Neutron Source (IFMIF-DONES) consists of complex systems and massive components that need to be on site assembled and maintained. For several of them it is required to perform maintenance, inspection and monitoring tasks over many years in a hostile environment and in efficient, safe and reliable manner. The maintenance of IFMIF-DONES’ systems and components, located mainly in the Test Systems (TS), in the Lithium Systems (LS) and in the Accelerator Systems (AS), is classified as a Remote Handling (RH) Class 1st activity and as such is considered a crucial and essential activity whose success will strictly depend on the IFMIF-DONES RH capability. According to this, a Remote Handling System (RHS) for IFMIF-DONES, which comprises the whole set of Remote Handling Equipment and tooling for the execution of maintenance tasks, has been designed. A wide range of technologies is involved: special cranes, manipulator arms, lift interface frames, special cameras, control systems and virtual reality. In this paper an overview on status of the design of the main robotic systems and tooling of the RHS of IFMIF-DONES, including design requirements, functions and maintenance tasks to be performed, is given.
This paper is focused on the development of a haptic vest to enhance immersion and realism in vir... more This paper is focused on the development of a haptic vest to enhance immersion and realism in virtual environments, through vibrotactile feedback. The first steps to achieve touch-based communication are presented in order to set an actuation method based on vibration motors. Resulting vibrotactile patterns helping users to move inside virtual reality (VR). The research investigates human torso resolution and perception of vibration patterns, evaluating different kind of actuators at different locations on the vest. Finally, determining an appropriate distribution of vibration patterns allowed the generation of sensations that, for instance, help to guide in a mixed or virtual reality environment.
2014 5th International Conference on Intelligent Systems, Modelling and Simulation, 2014
Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing rad... more Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing radiation or other hazardous environments. Having a reliable robot system is essential for successful execution of missions and to avoid manual recovery of the robots in environments that are harmful to human beings. For deployment of robots missions at short notice, the ability to know beforehand the energy required for performing the task is essential. This paper presents a on-line method for predicting energy requirements based on the predetermined power models for a mobile robot. A small mobile robot, Khepera III is used for the experimental study and the results are promising with high prediction accuracy. The applications of the energy prediction models in energy optimization and simulations are also discussed along with examples of significant energy savings.
Vast majority of haptic applications are focused on single contact point interaction between the ... more Vast majority of haptic applications are focused on single contact point interaction between the user and the virtual scenario. One contact point is suitable for haptic applications such as palpation or object exploration. However, two or more contact points are required for more complex tasks such as grasping or object manipulation. Traditionally, when single-point haptic devices are applied in a complex task, a key or a switch is used for grasping objects. Using multiple contact points for this kind of complex manipulation tasks significantly increases the realism of haptic interactions. Moreover, virtual scenarios with multiple contact points also allow developing multi-user cooperative virtual manipulation since several users simultaneously interact over the same scenario and perceive the actions being performed by others. It represents a step forward in the current haptic applications that are usually based on one single user.
In this chapter, a scalable, multi-finger haptic device based on modular configuration is present... more In this chapter, a scalable, multi-finger haptic device based on modular configuration is presented. The mechanical design is based on a modular configuration with a redundant degree of freedom in which each module represents one finger. Mechanical configuration has been optimized to provide a device, which is as transparent as possible to the user. A general description of the control requirements and the implementation to control these types of devices are presented. Applications of modular multi-finger haptic devices include advanced virtual manipulation and simulators for training precise manual tasks. In this chapter, applications for precise manipulation including haptic and visual feedback are presented. Three scenarios have been developed in order to analyze human factors, train manual manipulations and test the performance of the system: (i) a simulator to train physiotherapists to do rehabilitation procedures, (ii) manipulation of fragile objects, and (iii) collaborative manipulation to lift an object between two users.
Advances in Intelligent Systems and Computing, 2014
In the hazardous environments present in particle accelerators and nuclear facilities require mai... more In the hazardous environments present in particle accelerators and nuclear facilities require maintenance and specific type of interventions. The maintenance task by the intervening personnel are planned to ensure personal safety but they are sometimes exposed to residual radiation. Hence inclusion of robotic systems into these environmental conditions are being encouraged to increase the availability of the facility and reduce personal radiation doses. However, the environment and tasks required present challenging conditions for robotic systems in terms of design, architecture, task planning and execution. This paper presents and addresses the hardware and software design choice of a modular robotic system as solution to overcome the challenges and presents a prototype heterogeneous modular robot system (SMART) . The simulation results of robot configurations overcoming the challenges is also presented.
Abstract This paper describes a multi-finger haptic interface called MasterFinger which is being ... more Abstract This paper describes a multi-finger haptic interface called MasterFinger which is being developed by the Universidad Politecnica de Madrid, Spain. An index and thumb finger prototype has already been implemented. Details about this device and how it is integrated into haptic scenarios are hereby explained. The paper includes mechanical and control description of the device, as well as some examples of the developed scenarios.
This chapter introduces the main topics of a telerobotic system. It describes the architecture of... more This chapter introduces the main topics of a telerobotic system. It describes the architecture of such a system from a general point of view and emphasizes the interaction between a human operator and a robot that performs the task in the remote environment. Furthermore it focuses on multi-modal human system interfaces and explains the main features of haptic, auditory, and visual interfaces. Finally important issues for the measurement and evaluation of the attribute telepresence are described.
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Papers by Manuel Ferre