Applied Bionics and Biomechanics

Applied Bionics and Biomechanics / 2007 / Article

Open Access

Volume 4 |Article ID 181272 | https://doi.org/10.1080/11762320701848746

Juan Manuel Ibarra-Zannatha, Claudia Marmolejo-Rivas, Manuel Ferre-Pérez, Rafael Aracil-Santonja, Salvador Cobos-Guzmán, "Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System", Applied Bionics and Biomechanics, vol. 4, Article ID 181272, 12 pages, 2007. https://doi.org/10.1080/11762320701848746

Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

Abstract

The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

Copyright © 2007 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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