This paper describes a telerobotic system operated through a virtual reality (VR) interface. A least squares method is used to find the transformation mapping, from the virtual to real environments. Results revealed an average transformation error of 3mm. The system was tested for the task of planning minimum time shaking trajectories to discharge the contents of a suspicious package onto a wor...

A telerobotic platform developed in a collaboration between NASA-JPL and MicroDexterity Systems, Inc (MDS) is described in this paper. The lightweight, compact 6 dof master-slave system is precise to better than 10 microns and can cover a workspace greater than 400 cubic centimeters. Current capabilities of the system include manual position control with augmented shared control modes and autom...

Because the elderly population is growing while the number of people to take care of them is declining, we propose an Internet telerobotic system to assist the aged or disabled in their homes when their caregivers are away. In this paper we analyze typical teleoperation robotic systems and design an Internet telerobotic system using CORBA (Common Object Request Broker Architecture). We detail t...

Distributed telerobotic applications exploiting Internet-related technologies, such as virtual laboratories and on-line robots, require effective techniques for timely delivery of sensory data to remote clients. In these systems, there is a need to distribute increasing quantities of sensory data to a potentially large number of clients during system operation. In this paper, we describe and ev...

This paper presents the clinical motivation, design specifications, kinematics, statics, and actuation compensation for a newly constructed telerobotic system for Minimally Invasive Surgery (MIS) of the throat. A hybrid dual-arm telesurgical slave, with twenty joint-space Degrees of Freedom (DoF), is used in this telerobotic system to provide the necessary dexterity in deep surgical fields such...

1. Telerobotic Performance Specifications A telerobotic system (Figure 1) consists of a master robot and a slave robot. For me telerobotic system, me designer can specify me desired behavior [2,13]. For example, me designer may want a dynamic behavior in which me human operator senses scaled-down values o( me forces which me slave robot senses when maneuvering an object, To achieve mis, a contr...

Virtual laboratories and on-line robots are examples of distributed telerobotic systems based on emerging Internet technologies. Building these applications from scratch is a very demanding effort because they must satisfy a wide set of requirements, arising from both the distributed systems domain, e.g. location transparency and multiplatform interoperability, and the telerobotic domain, e.g. ...

Robots governed by remote human operators are excellent candidates for work in hazardous or uncertain environments such as nuclear plants or outer space. For successful teleoperation, it is important to let the operator feel physically present at the remote site. When the telerobotic system is used to execute compliance tasks in which simultaneous control of both position and force may be deman...