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Intelligent cooperative manipulation system using dynamic force simulator

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4 Author(s)
Hashimoto, H. ; Inst. of Ind. Sci., Tokyo Univ., Japan ; Buss, M. ; Kunii, Y. ; Harashima, F.

Intelligent cooperative manipulation is proposed as a new paradigm for human-machine interaction and cooperation. Aiming at intelligent assistance of human operators the information and power flow between operator-system-task environment is carefully analyzed using a virtual reality to simulate the task environment. Central issue of this virtual reality is the dynamic force simulator (DFS) for feedback force calculation proposed in this paper. The DFS simulates object dynamics, contact model and friction characteristics of the human hand interacting with objects in the virtual reality. An example shows the efficiency of the proposed realization scheme of the DFS

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994