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Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07)
Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator
Tsukuba, Japan
March 22-March 24
ISBN: 0-7695-2738-8
ASCII Text
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Lawton N. Verner, Allison M. Okamura, "Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator," World Haptics Conference, pp. 286-291, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007.
 
 
BibTex
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@article{ 10.1109/WHC.2007.46,
author = {Lawton N. Verner and Allison M. Okamura},
title = {Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator},
journal ={World Haptics Conference},
volume = {0},
year = {2007},
isbn = {0-7695-2738-8},
pages = {286-291},
doi = {http://doi.ieeecomputersociety.org/10.1109/WHC.2007.46},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - World Haptics Conference
TI - Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator
SN - 0-7695-2738-8
SP286
EP291
A1 - Lawton N. Verner,
A1 - Allison M. Okamura,
PY - 2007
KW - null
VL - 0
JA - World Haptics Conference
ER -
 
Lawton N. Verner, Johns Hopkins University, USA
Allison M. Okamura, Johns Hopkins University, USA
Many high-degree-of-freedom haptic devices and teleoperator systems either do not have grippers or do not provide force feedback in the gripper degree of freedom (DOF). The purpose of this work is to determine the effect of gripper force feedback in relation to Cartesian (translational) force feedback on the execution of telemanipulation tasks. We developed a system for adding an additional DOF of grip force feedback on a 3-DOF Phantom haptic device master, as well as 6-DOF force/torque sensing on each ?finger? of a coupled gripper on a Phantom haptic device slave. The internal (grip) and external (translational) forces were measured as users performed a soft peg-in-hole task with various DOFs of force feedback: (1) full force feedback, (2) translational force feedback only, (3) grip force feedback only, and (4) no force feedback. Results show that the level of force applied in the translational and gripping DOFs are decoupled for a 3-DOF telemanipulator with added grip force feedback. This is likely due to the decoupled dynamics of internal and external hand forces.
Citation:
Lawton N. Verner, Allison M. Okamura, "Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator," whc, pp.286-291, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007
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