Tele-Operated Robotic Arm and Hand with Intuitive Control and Haptic Feedback

Monica Dascalu; Mihail Stefan Teodorescu; Anca Plavitu; Lucian Milea; Eduard Franti; Dan Coroama; Doina Moraru

doi:doi:10.11648/j.ajae.20140104.11

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Tele-Operated Robotic Arm and Hand with Intuitive Control and Haptic Feedback

Monica Dascalu, Mihail Stefan Teodorescu, Anca Plavitu, Lucian Milea, Eduard Franti, Dan Coroama, Doina Moraru

Published in American Journal of Aerospace Engineering (Volume 1, Issue 4)

Received: 24 November 2014 Accepted: 7 December 2014 Published: 18 December 2014

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Abstract

The paper presents a robotic arm having as end effector an anthropomorphic hand and its control system. The robotic arm and hand are controlled using a Complex Interactive Control Glove (CICG) and operator joint sensors. The robotic hand imitates the finger and joint movements of the human operator. The anthropomorphic hand sends pressure feedback from a pressure sensor array mounted at the robotic hand’s fingers and palm to the human operator wearing a Complex Interactive Control Glove that comprises haptic actuators. The pressure exerted by the robotic hand on various objects is perceived as vibrations on the corresponding hand area of the human operator. The robotic arm adjusts its position in correlation with the human operator’s arm, placing the end effector at the right position, corresponding to the operator’s hand. Data for the movement of the robotic arm are collected from the movements of the human operator by means of three joint sensors placed on the shoulder, elbow and hand wrist. Targeted applications of the tele-operated robotic arm and hand with intuitive control and haptic feedback include all situations where a human-like operation is needed in a hazardous or remote environment: space environment, operations executed in toxic atmosphere, working in high-radiation level environments, marine applications. In such cases, the robotic hand and arm that are executing the same movements as the human operator can replace the actual human operator. This will control the robotic arm form a safe, possibly remote, environment, and will be able to process the haptic feedback of the systems.

Published in	American Journal of Aerospace Engineering (Volume 1, Issue 4)
DOI	10.11648/j.ajae.20140104.11
Page(s)	21-27
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2014. Published by Science Publishing Group

Keywords

Robotic Arm, Robotic Anthropomorphic Hand, Haptic Feedback, Complex Interactive Control Glove, Hazardous Environments

References

[1]	S. Goto, Industrial Robotics: Theory, Modeling and Control (Force-free control for flexible motion of industrial articulated robot arm) , Advanced Robotic Systems International, Chapter 30, pp. 813-840, Proliteratur Verlag, 2007.
[2]	J. Richer and J. L. Drury, A Video Game - Based Framework for Analyzing Human - Robot Interaction, in proceeding s of the ACM conference on Human - Robot Interaction - HRI ’06 , 2006, pp . 266.
[3]	D. Sakamoto, K. Honda, M. Inami, and T. Igarashi, Sketch and Run, in proceedings of the international conference on Human Factors in Computing Systems - CHI ’09 , 2009, pp . 197.
[4]	C. Glover, B. Russell, A. White, M. Miller, and A. Stoytchev, An Effective and Intuitive Control Interface for Remote Robot Teleoperation with Complete Haptic Feedback, in proceedings of the Emerging Technologies Conference - ETC, 2009.
[5]	S. Goto, Advances in Robot Manipulators (Industrial Robotics: Teleoperation System of Industrial Articulated Robot Arms by Using Forcefree Control), Advanced Robotic Systems International, INTECH, 2010.
[6]	S. Goto, T. Naka, Y. Matsuda and N. Egashira, Teleoperation System of Robot Arms Combined with Remote Control and Visual Servo Control, Proceedings of the SICE Annual Conference 2010, August 18-21, Taipei, Taiwan, 2010.
[7]	Velagic, J., Coralic, M. and Hebibovic, M. (2004). The Remote Control of Robot Manipulator for Precise Time-Limited Complex Path Tracking, Proceedings of the IEEE International Conference on Mechatronics and Robotics (MechRob2004), Volume 2, September 13-15, Aachen, Germany, pp. 841-846
[8]	D. Lee, and M.W. Spong, Passive Bilateral Teleoperation with Constant Time Delay, IEEE Transactions on Robotics and Automation , vol. 22, no.2, pp. 269-281, April 2006.
[9]	J. Scholtz, J. Young, J. L. Drury, and H. A. Yanco, Evaluation of Human - Robot Interaction Awareness in Search and Rescue, in IEEE international conference on Robotics and Automation - ICRA ’04. , 2004, vol. 3, pp. 2327 – 2332
[10]	J. L. Drury, J. Scholtz, and H. A. Yanco, Awareness in Human - Robot Interactions, in IEEE international conference on Systems, Man and Cybernetics - SMC ’03. , 2003, vol. 1, pp. 912 – 918.

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APA Style

Monica Dascalu, Mihail Stefan Teodorescu, Anca Plavitu, Lucian Milea, Eduard Franti, et al. (2014). Tele-Operated Robotic Arm and Hand with Intuitive Control and Haptic Feedback. American Journal of Aerospace Engineering, 1(4), 21-27. https://doi.org/10.11648/j.ajae.20140104.11

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ACS Style

Monica Dascalu; Mihail Stefan Teodorescu; Anca Plavitu; Lucian Milea; Eduard Franti, et al. Tele-Operated Robotic Arm and Hand with Intuitive Control and Haptic Feedback. Am. J. Aerosp. Eng. 2014, 1(4), 21-27. doi: 10.11648/j.ajae.20140104.11

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AMA Style

Monica Dascalu, Mihail Stefan Teodorescu, Anca Plavitu, Lucian Milea, Eduard Franti, et al. Tele-Operated Robotic Arm and Hand with Intuitive Control and Haptic Feedback. Am J Aerosp Eng. 2014;1(4):21-27. doi: 10.11648/j.ajae.20140104.11

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@article{10.11648/j.ajae.20140104.11,
  author = {Monica Dascalu and Mihail Stefan Teodorescu and Anca Plavitu and Lucian Milea and Eduard Franti and Dan Coroama and Doina Moraru},
  title = {Tele-Operated Robotic Arm and Hand with Intuitive Control and Haptic Feedback},
  journal = {American Journal of Aerospace Engineering},
  volume = {1},
  number = {4},
  pages = {21-27},
  doi = {10.11648/j.ajae.20140104.11},
  url = {https://doi.org/10.11648/j.ajae.20140104.11},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajae.20140104.11},
  abstract = {The paper presents a robotic arm having as end effector an anthropomorphic hand and its control system. The robotic arm and hand are controlled using a Complex Interactive Control Glove (CICG) and operator joint sensors. The robotic hand imitates the finger and joint movements of the human operator. The anthropomorphic hand sends pressure feedback from a pressure sensor array mounted at the robotic hand’s fingers and palm to the human operator wearing a Complex Interactive Control Glove that comprises haptic actuators. The pressure exerted by the robotic hand on various objects is perceived as vibrations on the corresponding hand area of the human operator. The robotic arm adjusts its position in correlation with the human operator’s arm, placing the end effector at the right position, corresponding to the operator’s hand. Data for the movement of the robotic arm are collected from the movements of the human operator by means of three joint sensors placed on the shoulder, elbow and hand wrist. Targeted applications of the tele-operated robotic arm and hand with intuitive control and haptic feedback include all situations where a human-like operation is needed in a hazardous or remote environment: space environment, operations executed in toxic atmosphere, working in high-radiation level environments, marine applications. In such cases, the robotic hand and arm that are executing the same movements as the human operator can replace the actual human operator. This will control the robotic arm form a safe, possibly remote, environment, and will be able to process the haptic feedback of the systems.},
 year = {2014}
}

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TY  - JOUR
T1  - Tele-Operated Robotic Arm and Hand with Intuitive Control and Haptic Feedback
AU  - Monica Dascalu
AU  - Mihail Stefan Teodorescu
AU  - Anca Plavitu
AU  - Lucian Milea
AU  - Eduard Franti
AU  - Dan Coroama
AU  - Doina Moraru
Y1  - 2014/12/18
PY  - 2014
N1  - https://doi.org/10.11648/j.ajae.20140104.11
DO  - 10.11648/j.ajae.20140104.11
T2  - American Journal of Aerospace Engineering
JF  - American Journal of Aerospace Engineering
JO  - American Journal of Aerospace Engineering
SP  - 21
EP  - 27
PB  - Science Publishing Group
SN  - 2376-4821
UR  - https://doi.org/10.11648/j.ajae.20140104.11
AB  - The paper presents a robotic arm having as end effector an anthropomorphic hand and its control system. The robotic arm and hand are controlled using a Complex Interactive Control Glove (CICG) and operator joint sensors. The robotic hand imitates the finger and joint movements of the human operator. The anthropomorphic hand sends pressure feedback from a pressure sensor array mounted at the robotic hand’s fingers and palm to the human operator wearing a Complex Interactive Control Glove that comprises haptic actuators. The pressure exerted by the robotic hand on various objects is perceived as vibrations on the corresponding hand area of the human operator. The robotic arm adjusts its position in correlation with the human operator’s arm, placing the end effector at the right position, corresponding to the operator’s hand. Data for the movement of the robotic arm are collected from the movements of the human operator by means of three joint sensors placed on the shoulder, elbow and hand wrist. Targeted applications of the tele-operated robotic arm and hand with intuitive control and haptic feedback include all situations where a human-like operation is needed in a hazardous or remote environment: space environment, operations executed in toxic atmosphere, working in high-radiation level environments, marine applications. In such cases, the robotic hand and arm that are executing the same movements as the human operator can replace the actual human operator. This will control the robotic arm form a safe, possibly remote, environment, and will be able to process the haptic feedback of the systems.
VL  - 1
IS  - 4
ER  -

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Author Information

Monica Dascalu

Faculty of Electronics and Telecommunications, Politehnica University of Bucharest, Bucharest, Romania
Mihail Stefan Teodorescu

Faculty of Electronics and Telecommunications, Politehnica University of Bucharest, Bucharest, Romania
Anca Plavitu

Center for New Electronic Architecture, Research Institute for Artificial Intelligence, Bucharest, Romania
Lucian Milea

Faculty of Electronics and Telecommunications, Politehnica University of Bucharest, Bucharest, Romania
Eduard Franti

Center for New Electronic Architecture, Research Institute for Artificial Intelligence, Bucharest, Romania
Dan Coroama

Faculty of Electronics and Telecommunications, Politehnica University of Bucharest, Bucharest, Romania
Doina Moraru

Faculty of Electronics and Telecommunications, Politehnica University of Bucharest, Bucharest, Romania

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APA Style

Monica Dascalu, Mihail Stefan Teodorescu, Anca Plavitu, Lucian Milea, Eduard Franti, et al. (2014). Tele-Operated Robotic Arm and Hand with Intuitive Control and Haptic Feedback. American Journal of Aerospace Engineering, 1(4), 21-27. https://doi.org/10.11648/j.ajae.20140104.11

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ACS Style

Monica Dascalu; Mihail Stefan Teodorescu; Anca Plavitu; Lucian Milea; Eduard Franti, et al. Tele-Operated Robotic Arm and Hand with Intuitive Control and Haptic Feedback. Am. J. Aerosp. Eng. 2014, 1(4), 21-27. doi: 10.11648/j.ajae.20140104.11

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AMA Style

Monica Dascalu, Mihail Stefan Teodorescu, Anca Plavitu, Lucian Milea, Eduard Franti, et al. Tele-Operated Robotic Arm and Hand with Intuitive Control and Haptic Feedback. Am J Aerosp Eng. 2014;1(4):21-27. doi: 10.11648/j.ajae.20140104.11

Copy | Download

@article{10.11648/j.ajae.20140104.11,
  author = {Monica Dascalu and Mihail Stefan Teodorescu and Anca Plavitu and Lucian Milea and Eduard Franti and Dan Coroama and Doina Moraru},
  title = {Tele-Operated Robotic Arm and Hand with Intuitive Control and Haptic Feedback},
  journal = {American Journal of Aerospace Engineering},
  volume = {1},
  number = {4},
  pages = {21-27},
  doi = {10.11648/j.ajae.20140104.11},
  url = {https://doi.org/10.11648/j.ajae.20140104.11},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajae.20140104.11},
  abstract = {The paper presents a robotic arm having as end effector an anthropomorphic hand and its control system. The robotic arm and hand are controlled using a Complex Interactive Control Glove (CICG) and operator joint sensors. The robotic hand imitates the finger and joint movements of the human operator. The anthropomorphic hand sends pressure feedback from a pressure sensor array mounted at the robotic hand’s fingers and palm to the human operator wearing a Complex Interactive Control Glove that comprises haptic actuators. The pressure exerted by the robotic hand on various objects is perceived as vibrations on the corresponding hand area of the human operator. The robotic arm adjusts its position in correlation with the human operator’s arm, placing the end effector at the right position, corresponding to the operator’s hand. Data for the movement of the robotic arm are collected from the movements of the human operator by means of three joint sensors placed on the shoulder, elbow and hand wrist. Targeted applications of the tele-operated robotic arm and hand with intuitive control and haptic feedback include all situations where a human-like operation is needed in a hazardous or remote environment: space environment, operations executed in toxic atmosphere, working in high-radiation level environments, marine applications. In such cases, the robotic hand and arm that are executing the same movements as the human operator can replace the actual human operator. This will control the robotic arm form a safe, possibly remote, environment, and will be able to process the haptic feedback of the systems.},
 year = {2014}
}

Copy | Download

TY  - JOUR
T1  - Tele-Operated Robotic Arm and Hand with Intuitive Control and Haptic Feedback
AU  - Monica Dascalu
AU  - Mihail Stefan Teodorescu
AU  - Anca Plavitu
AU  - Lucian Milea
AU  - Eduard Franti
AU  - Dan Coroama
AU  - Doina Moraru
Y1  - 2014/12/18
PY  - 2014
N1  - https://doi.org/10.11648/j.ajae.20140104.11
DO  - 10.11648/j.ajae.20140104.11
T2  - American Journal of Aerospace Engineering
JF  - American Journal of Aerospace Engineering
JO  - American Journal of Aerospace Engineering
SP  - 21
EP  - 27
PB  - Science Publishing Group
SN  - 2376-4821
UR  - https://doi.org/10.11648/j.ajae.20140104.11
AB  - The paper presents a robotic arm having as end effector an anthropomorphic hand and its control system. The robotic arm and hand are controlled using a Complex Interactive Control Glove (CICG) and operator joint sensors. The robotic hand imitates the finger and joint movements of the human operator. The anthropomorphic hand sends pressure feedback from a pressure sensor array mounted at the robotic hand’s fingers and palm to the human operator wearing a Complex Interactive Control Glove that comprises haptic actuators. The pressure exerted by the robotic hand on various objects is perceived as vibrations on the corresponding hand area of the human operator. The robotic arm adjusts its position in correlation with the human operator’s arm, placing the end effector at the right position, corresponding to the operator’s hand. Data for the movement of the robotic arm are collected from the movements of the human operator by means of three joint sensors placed on the shoulder, elbow and hand wrist. Targeted applications of the tele-operated robotic arm and hand with intuitive control and haptic feedback include all situations where a human-like operation is needed in a hazardous or remote environment: space environment, operations executed in toxic atmosphere, working in high-radiation level environments, marine applications. In such cases, the robotic hand and arm that are executing the same movements as the human operator can replace the actual human operator. This will control the robotic arm form a safe, possibly remote, environment, and will be able to process the haptic feedback of the systems.
VL  - 1
IS  - 4
ER  -

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