This paper describes an environment for the design, simulation and control of Internet-based force-reeecting telerobotic systems. We deene these systems as using a segment of the computer network to connect the master to the slave. Computer networks introduce a time-delay that is best described by a time-varying random process. Thus, known techniques for controlling time-delay telerobots are no...

In this paper we present the design, development and space test of the world's first precise telerobotic system boarded on an unmanned space vehicle, ETS-VII (Engineering Test Satellite VII). The robotic system has features of skill and autonomy using a three-finger multisensory hand at a work site in space and computer graphicsbased desktop telerobotics at a control site on the ground. We deve...

In this article, we describe and demonstrate control algorithms for general motion constraints. These constraints are designed to enhance the accuracy and speed of a user manipulating in an environment with the assistance of a cooperative or telerobotic system. Our method uses a basis of preferred directions, created off-line or in real-time using sensor data, to generate virtual fixtures that ...

The Surgical Assistant Workstation (SAW) is a software development framework that can be used to develop new applications in robot-assisted surgery with augmented visualization. Robot-assisted laparoscopic surgery and micro-surgery—as presented by the da Vinci telerobotic system and the Johns Hopkins Steady Hand, respectively—can be improved by providing fully-integrated image guidance and info...

The Visual Acts theory aims to provide intelligent assistance for camera viewpoint selection during teleoperation. It combines top-down partitioning of a task and bottom-up monitoring of the operator to select task-relevant camera viewpoints. Previous experimental studies have shown that Visual Acts provides camera views of sufficient quality to allow an operator to complete a task. In cases wh...

Weber’s law is among the basic psychophysical laws of human perception. It determines that human sensitivity to change along a physical dimension, the just noticeable difference (JND), is linearly related to stimulus intensity. Conversely, in direct (natural), visually guided grasping, Weber’s law is violated and the JND does not depend on stimulus intensity. The current work examines adherence...

A control architecture is presented for real-time, sensor-based, shared control of remote, multiplemanipulator telerobotic systems. The system allows teleoperation, autonomy, or a combination (shared, telerobotic control). The rate-based system accepts control inputs from a variety of sources (joystick position or velocity, automated path planner position or velocity, machine vision, force/mome...

The Advanced Deburring and Chamfer System is robotic workcell designed to put precision chamfers on parts made with hard metals. The project was funded by the United States Navy so that the technology developed could be applied to their air defense systems. The Unified Telerobotic Architecture Project was a United States Air Force funded project to develop an open architecture for robotic appli...

A control architecture is presented for real-time, sensor-based, shared control of remote, multiplemanipulator telerobotic systems. The system allows teleoperation, autonomy, or a combination (shared, telerobotic control). The rate-based system accepts control inputs from a variety of sources (joystick position or velocity, automated path planner position or velocity, machine vision, force/mome...