Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures

Alexandria, Virginia March 25-March 29

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http://doi.ieeecomputersociety.org/10.1109/VR.2006.112

2006 International Symposium on Hapti ...

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	Jake J. Abbott, Allison M. Okamura, "Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures," Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on, pp. 26, 2006 International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'06), 2006.

	BibTex	x
	@article{ 10.1109/VR.2006.112, author = {Jake J. Abbott and Allison M. Okamura}, title = {Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures}, journal ={Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on}, volume = {0}, year = {2006}, isbn = {1-4244-0226-3}, pages = {26}, doi = {http://doi.ieeecomputersociety.org/10.1109/VR.2006.112}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on TI - Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures SN - 1-4244-0226-3 SP EP A1 - Jake J. Abbott, A1 - Allison M. Okamura, PY - 2006 KW - virtual fixtures KW - virtual mechanisms KW - telemanipulation KW - teleoperation KW - rate control KW - admittance control KW - force control VL - 0 JA - Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on ER -

Jake J. Abbott, Johns Hopkins University

Allison M. Okamura, Johns Hopkins University

We present a novel bilateral telemanipulation control system called Pseudo-admittance, which is designed to mimic admittance control on systems where the master is an impedance-type robot. Desirable system properties include steady-hand tremor attenuation and quasi-static transparency. The controller can also be modified to include virtual fixtures that provide guidance, while leaving ultimate control of the system with the operator. The properties of the system are verified through simulations and experiments. Pseudo-admittance control has potential benefits for tasks that require better-than-human levels of precision, as well as with systems which are typically run under rate control. Guidance virtual fixtures could be used as task macros - potentially increasing both speed and precision on structured tasks that require direct human control.

Index Terms:

virtual fixtures, virtual mechanisms, telemanipulation, teleoperation, rate control, admittance control, force control

Citation:

Jake J. Abbott, Allison M. Okamura, "Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures," haptics, pp.26, 2006 International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'06), 2006

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