國立虎尾科技大學 |

Evaluation of Haptic Virtual Fixtures with Real-Time Sensors.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Evaluation of Haptic Virtual Fixtures with Real-Time Sensors./
Author:	Huang, Kevin.
Description:	1 online resource (118 pages)
Notes:	Source: Dissertation Abstracts International, Volume: 79-01(E), Section: B.
Subject:	Robotics. -
Online resource:	click for full text (PQDT)
ISBN:	9780355119305

Evaluation of Haptic Virtual Fixtures with Real-Time Sensors.
Huang, Kevin.

Evaluation of Haptic Virtual Fixtures with Real-Time Sensors. - 1 online resource (118 pages)

Source: Dissertation Abstracts International, Volume: 79-01(E), Section: B.

Thesis (Ph.D.)--University of Washington, 2017.

Includes bibliographical references

Haptic virtual fixtures and haptic display can provide critical operator feedback and aid in completing teleoperated tasks. This is particularly true for cases in which visual information is not sufficient for the specific task, e.g. attempting to observe and manipulate a transparent object. This work improves upon one particular aspect of user feedback: conveying information to the user through the operator's sense of touch. Not only is feedback transparency of interest, but so too is the use of intelligent use of force feedback in the form of haptic virtual fixtures. Virtual fixtures help to modify the user's performance by encouraging or limiting their motions. In practice, providing touch or haptic feedback can be achieved with a priori or real-time information. The former presents problems in that virtual fixtures designed this way are useful only in predefined, well-known and unchanging scenarios. One promising implementation of the latter utilizes real-time streaming point clouds provided by commercially available RGB-Depth (RGB-D) cameras. Problems persist, however. For example, missing or gaps in point cloud data can be caused by material properties, lighting conditions, distance and other factors. Surface geometries are a useful but not exhaustive set of information for teleoperation tasks. One solution is to augment the sparse/missing point cloud with additional geometry information provided by auxiliary sensors, or incorporate additional sensory information which RGB-D cameras are not suited to capture. Furthermore, feedback qualities in telerobotic interaction can impact user performance. Novel visualization and haptic feedback modes are of interest, and use cases of these scenarios are demonstrated on real telerobotic platforms in this thesis.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9780355119305Subjects--Topical Terms:

561941
Robotics.
Index Terms--Genre/Form:

554714
Electronic books.

Evaluation of Haptic Virtual Fixtures with Real-Time Sensors.
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245 1 0 $a Evaluation of Haptic Virtual Fixtures with Real-Time Sensors.
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500 $a Source: Dissertation Abstracts International, Volume: 79-01(E), Section: B.
500 $a Adviser: Howard J. Chizeck.
502 $a Thesis (Ph.D.)--University of Washington, 2017.
504 $a Includes bibliographical references
520 $a Haptic virtual fixtures and haptic display can provide critical operator feedback and aid in completing teleoperated tasks. This is particularly true for cases in which visual information is not sufficient for the specific task, e.g. attempting to observe and manipulate a transparent object. This work improves upon one particular aspect of user feedback: conveying information to the user through the operator's sense of touch. Not only is feedback transparency of interest, but so too is the use of intelligent use of force feedback in the form of haptic virtual fixtures. Virtual fixtures help to modify the user's performance by encouraging or limiting their motions. In practice, providing touch or haptic feedback can be achieved with a priori or real-time information. The former presents problems in that virtual fixtures designed this way are useful only in predefined, well-known and unchanging scenarios. One promising implementation of the latter utilizes real-time streaming point clouds provided by commercially available RGB-Depth (RGB-D) cameras. Problems persist, however. For example, missing or gaps in point cloud data can be caused by material properties, lighting conditions, distance and other factors. Surface geometries are a useful but not exhaustive set of information for teleoperation tasks. One solution is to augment the sparse/missing point cloud with additional geometry information provided by auxiliary sensors, or incorporate additional sensory information which RGB-D cameras are not suited to capture. Furthermore, feedback qualities in telerobotic interaction can impact user performance. Novel visualization and haptic feedback modes are of interest, and use cases of these scenarios are demonstrated on real telerobotic platforms in this thesis.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Robotics. $3 561941
650 4 $a Electrical engineering. $3 596380
650 4 $a Engineering. $3 561152
655 7 $a Electronic books. $2 local $3 554714
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690 $a 0544
690 $a 0537
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710 2 $a University of Washington. $b Electrical Engineering. $3 1180628
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10264639 $z click for full text (PQDT)