Enabling multi-finger, multi-hand virtualized grasping

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2003, Pages 809-815

  Barbagli, Federico ^a,b   Salisbry Jr , Kenneth ^a   Devengenzo, Roman ^c  

^a STANFORD UNIVERSITY   (United States)

^b UNIVERSITY OF SIENA   (Italy)

^c Stanford University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL COMPLEXITY; CONTROL SYSTEM ANALYSIS; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; HAPTIC INTERFACES; KINEMATICS; MANIPULATORS; VIRTUAL REALITY;

FORCE FEEDBACK; HAPTIC INTERACTION; MULTI-FINGER HAPTIC INTERFACE; MULTI-HAND VIRTUALIZED GRASPING; SINGLE POINT CONTACT INTERACTION METAPHOR;

MOBILE ROBOTS;

EID: 0344876545     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (26)

1. www.sensable.com, "Sensable technologies,".
2. www.forcedimension.com, "Forcedimension,".
3. G. Jansson and K. Billberger, "The phantom used without visual guidance," in Proceedings of the First PHANToM Users Research Symposium (PURS99), Deutsches Krebsforchungszentrum, Heidelberg, Germany, May 1999.
4. H. Petrie et al. G. Jansson, K. Billberger, "Haptic virtual environments for blind people: Exploratory experiments with two devices," International Journal of Virtual Reality, vol. 4, pp. 10-20, 1999.
5. J. M. S.J. Lederman et al. R. L. Klatzky, J.M. Loomis, "Haptic identification of objects and their depictions," Perception and Psychophysics, vol. 54, pp. 170-178, 1993.
6. T. Kirkpatrick and S. Douglas, "Application-based evaluation of haptic interfaces," in Proceedings of IEEE Virtual Reality conference, VR2002, Orlando, FL, may 2002.
7. J. Vertut and P. Coiffet, Teleoperations and robotics: evolution and development, Prentice Hall, 1986.
8. M. von der Heyde and C. Hager-Ross, "Psychophysical experiments in a complex virtual environment," in Proceedings of the III PUG, PHANToM User Group, Dedham, MA, 1998.
9. J.D. Bayliss, J.B. Peltz M.M. Hayhoe D.H. Ballard, A. Shrivastava and M. von der Heyde, "Development of a virtual laboratory for the study of complex human behavior," in Proceedings of the SPIE, The Engineering Reality of Virtual Reality, San Jose, CA, 1999, vol. 3639B.
10. M.O. Ernst and M.S. Banks, "Humans integrate visual and haptic information in a statistically optimal fashion," Letters to Nature, vol. 415, 2002.
11. S.D. McDermott A.S. Coutee and B. Bras, "A haptic assembly and disassembly simulation environment and associated computational load optimization techniques," ASME Journal of Computing and Information Science Engineering, vol. 1(2), pp. 113-122, 2001.
12. T. Yoshikawa, Y. Yokokohji, T. Matsumoto, and X. Zheng, "Display of feel for the manipulation of dynamic virtual objects," Trans. ASME, Journal of Dynamic Systems, Measurement, and Control, 117, no. 4, pp. 554-558, 1995.
13. M. Kawai and T. Yoshikawa, "Stable haptic display of 1-dof grasping with coupling impedance for internal and external forces," in Proceedings of the 2000 IEEE/RSJ, 2000, pp. 1316-1321.
14. M.P. MacFarlane, J. Rosen, B. Hannaford and M.N. Sinanan, "Force controlled and teleoperated endoscopic grasper for minimally invasive surgery - experimental performance evaluation," IEEE Transactions on Biomedical Engineering, vol. 46, no. 10, October 1999.
15. www.immersion.com "Immersion inc.,".
16. Ben-Ur E. and Salisbury JK., "Development of a 5-dof force feedback laparoscopic interface for simulation and telesurgery," in Proceedings of Digitization of the Battlespace V and Battlefield Biomedical Technologies II, Orlando, FL, April 2000, Proc. SPIE 4037.
17. P. Astley V. Hayward, P. Gregorio and S O. Greenish, "Freedom-7: A high fidelity seven axis haptic device with application to surgical training," in Experimental Robotics V, Lecture Notes in Control and Information Science 232, 1998, pp. 445-456.
18. C. Zilles and J. Salisbury. "A constraintbased god-object method for haptic display," in Proc. IEE/RSJ International Conference on Intelligent Robots and Systems, Human Robot Interaction, and Cooperative Robots, 1995, vol. 3, pp. 146-151.
19. Diego C. Ruspini, Krasimir Kolarov, and Oussama Khatib, "The haptic display of complex graphical environments," Computer Graphics, vol. 31, no. Annual Conference Series, pp. 345-352, 1997.
20. K. Salisbury and Mason, Robot Hands and the Mechanics of Manipulation, MIT press, 1985.
21. F. Barbagli and K. Salisbury, "The effect of sensor/actuator asymmetries in haptic interfaces," in submitted to Haptics03 Symposium, Los Angeles, CA, 2003.
22. J. J. Gibson, The senses considered as perceptual systems, Houghton Mifflin, 1966.
23. Nussbaum M.A. Astin A.D., "The use of standardized forearm emg measures to predict single and multi-digit forces," in Proceedings of the IEA 2000/HFES 2000 Congress, San Francisco, CA, USA, 2000, pp. 559-562.
24. Johansson R.S. Jenmalm P., Goodwin A. W., "Control of grasp stability when humans lift objects with different surface curvatures," J. Neurophysiol., no. 79, pp. 1643-1652, 1998.
25. M. Krueger, Artificial Reality II, Addison-Wesley, 1991.
26. D. L. Brock, "Enhancing the dexterity of a robot hand using controlled slip," May 1987.