By Manuel Ferre, Martin Buss, Rafael Aracil, Claudio Melchiorri, Carlos Balaguer
A desirable e-book that covers intimately all the newest advances in Telerobotics. A must-read for scientists, researchers and scholars in teleoperation, it describes every little thing from equipment and experimental effects to functions and advancements. Its 3 sections hide human procedure interfaces, keep watch over, and purposes. The e-book is complemented through a really helpful CD-ROM containing fifteen examine video clips that aid to carry the cloth within the publication to lifestyles.
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Extra resources for Advances in Telerobotics (Springer Tracts in Advanced Robotics)
Sec. 2 brieﬂy reviews the requirements and state of the art of haptic hardware also discussing the use of kinematic redundancies. Sec. 3 presents the system design of ViSHaRD10 and Sec. 4 basic control strategies along with the inverse kinematics solution technique. Finally, hardware experiments for closed-loop performance and the capability of the inverse kinematics solution to avoid singular conﬁgurations are presented in Sec. 5. 1 Requirements An ‘ideal’ haptic device provides for a large variety of haptic applications a completely transparent interface to the remote or virtual environment, i.
Dynamic properties: The haptic interface should be able to display a large dynamic range of impedances. This requires a good backdrivability to render unconstrained motion and a high closed loop stiﬀness to mimic solid contact situations. In case the task involves a highly dynamical interaction of the operator with the device it is important that backdrivability and stiﬀness can be provided at a large bandwidth. It has to be noted, that the bandwidth requirements for these two tasks diﬀer substantially.
An overview of typical types of haptic interfaces can be found in [21, 22, 23, 24]. 2. 2 shows the most important representatives according to the classiﬁcation mentioned above. Exoskeletons are usually worn devices mounted to the arm or leg. They reproduce the human body motions and the feedback is predominantly kinesthetic. Such a kind of interface is presented in chapter 4. Non-portable and kinesthetic predominant devices are devices that have a serial or parallel kinematic conﬁguration and are manipulated by the operator’s ﬁngers 1 The Human Role in Telerobotics 21 or hands.