TY - GEN
T1 - An experimental validation of electro-hydraulic transmission for haptic teleoperation-Comparison with thrust wire -
AU - Bechet, Francis
AU - Ohnishi, Kouhei
PY - 2014/1/1
Y1 - 2014/1/1
N2 - This paper proposes an experimental validation of electro-hydraulic transmission for haptic teleoperation. Haptic teleoperation is an emerging technology that is designed to transmit position and force sensations of a distant environment to the human hand. Heretofore, it has been considered in several applications such as plant reparation, space exploration or laparoscopic surgery. So far, flexible actuator using thrust wire is one of the most efficient way of transmitting haptic sensations. However, compensations of friction and backlash caused by deflection and shape changes of wire remain veritable issues. In this paper, we propose to connect two syringes through a hydraulic tube in order to achieve position tracking and force transmission between an electromagnetic motor and a remotely located end-effector. By that mean, flexibility of thrust wire is replaced by the flexibility of hydraulic tube, mechanical friction is replaced by viscous friction, and backlash is avoided by incompressibility of fluid. The validity of the proposal is verified experimentally.
AB - This paper proposes an experimental validation of electro-hydraulic transmission for haptic teleoperation. Haptic teleoperation is an emerging technology that is designed to transmit position and force sensations of a distant environment to the human hand. Heretofore, it has been considered in several applications such as plant reparation, space exploration or laparoscopic surgery. So far, flexible actuator using thrust wire is one of the most efficient way of transmitting haptic sensations. However, compensations of friction and backlash caused by deflection and shape changes of wire remain veritable issues. In this paper, we propose to connect two syringes through a hydraulic tube in order to achieve position tracking and force transmission between an electromagnetic motor and a remotely located end-effector. By that mean, flexibility of thrust wire is replaced by the flexibility of hydraulic tube, mechanical friction is replaced by viscous friction, and backlash is avoided by incompressibility of fluid. The validity of the proposal is verified experimentally.
KW - Electro-hydraulic transmission
KW - Flexible Actuator
KW - Force Control
KW - Haptics
KW - Motion Control
KW - Teleoperation
UR - http://www.scopus.com/inward/record.url?scp=84907358977&partnerID=8YFLogxK
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U2 - 10.1109/ISIE.2014.6864780
DO - 10.1109/ISIE.2014.6864780
M3 - Conference contribution
AN - SCOPUS:84907358977
SN - 9781479923991
T3 - IEEE International Symposium on Industrial Electronics
SP - 1174
EP - 1179
BT - Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
Y2 - 1 June 2014 through 4 June 2014
ER -