SearchSkip to Search Results
This thesis focuses on the analysis and implementation of haptic teleoperation systems for home-based remote rehabilitation therapies. The main objective is to link the hand of a hospital-based therapist to the hand of a home-based disabled patient haptically, in order to simulate conventional...
For robotic systems that use pneumatic actuators with on/off solenoid valves, sliding-mode control laws for precise position control and low switching (open/close) activity of the valves are presented. A pneumatic actuator has two chambers with a total of four on/off solenoid valves. Thus, there...
Stability of Haptic Virtual Environments and Teleoperation Systems : Effect of Sampled-Data Control, Communication Delay and Active OperatorDownload
Three factors can jeopardize the stability of haptic virtual environments (HVE)s and teleoperation systems: (a) delayed communication channel, (b) controller discretization and (c) active operator intervention. This thesis studies the stability of these systems and investigates the simultaneous...
Towards Supervisory Control for Remote Mobile Manipulation: Designing, Building, and Testing a Mobile Telemanipulation Test-BedDownload
This dissertation has two main contributions, a modular design of a mobile manipulator and a set of tele-operation performance experiments using this platform. To experimentally evaluate system performance and operator preferences, several tests were designed: 1) Which robot camera placement...