Topic
Remote manipulator
About: Remote manipulator is a research topic. Over the lifetime, 262 publications have been published within this topic receiving 3584 citations. The topic is also known as: waldo & telefactor.
Papers published on a yearly basis
Papers
1 Jan 1980
TL;DR: In this paper, a universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator, allowing the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible.
Abstract: A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.
279 citations
24 Apr 1988
TL;DR: A real-time molecular docking system is developed that uses an electrically coupled remote manipulator as a force display and might enhance the biochemist's understanding and performance.
Abstract: A real-time molecular docking system is developed that uses an electrically coupled remote manipulator as a force display. The system, which uses integrates interactive computer graphics and high-speed calculation of the interaction forces between a drug and a receptor site in a molecule, is designed to be a tool for molecular scientists. The manipulator is used to generate the forces and torques exerted on the drug molecule when it is aligned with the receptor site by the user's hand. The manipulator serves both as an input device for 6-D manipulation and as an output device for generating forces. Preliminary testing indicates that the system might enhance the biochemist's understanding and performance. >
187 citations
Patent•
22 Sep 1982
TL;DR: In this paper, a two-axis joystick is used to control a pair of linear actuators and a rotary actuator, with the actuators being powered by electric motors to effect throttle, brake and steering control of a motor vehicle adapted to include the controller.
Abstract: A remote controller is disclosed for controlling the throttle, brake and steering mechanism of a conventional motor vehicle, with the remote controller being particularly advantageous for use by severely handicapped individuals. The controller includes a remote manipulator which controls a plurality of actuators through interfacing electronics. The remote manipulator is a two-axis joystick which controls a pair of linear actuators and a rotary actuator, with the actuators being powered by electric motors to effect throttle, brake and steering control of a motor vehicle adapted to include the controller. The controller enables the driver to control the adapted vehicle from anywhere in the vehicle with one hand with minimal control force and range of motion. In addition, even though a conventional vehicle is adapted for use with the remote controller, the vehicle may still be operated in the normal manner.
161 citations
21 May 1995
TL;DR: This paper presents a system for relaying distributed tactile information from the finger tips of a remote manipulator to the finger tip of a human teleoperator, and tests confirm the system's ability to convey significant contact information.
Abstract: This paper presents a system for relaying distributed tactile information from the finger tips of a remote manipulator to the finger tips of a human teleoperator. Tactile array sensors measure the pressure distribution at the contact between the robot hand and the grasped object. A computer samples this pressure signal and applies signal processing algorithms. The resulting signal drives a tactile shape display mounted on the master manipulator. This device raises an array of pins against the operator's finger tip skin to recreate the object shape. This system has been tested on a force-reflecting teleoperated hand. Experiments confirm the system's ability to convey significant contact information.
114 citations
Related Topics (5)
Performance Metrics
| Year | Papers |
|---|---|
| 2021 | 1 |
| 2020 | 2 |
| 2019 | 2 |
| 2018 | 2 |
| 2017 | 1 |
| 2016 | 6 |