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High Frequency Feedback in Telerobotics


Stanford Reference:

05-193


Abstract


Haptic interfaces to telerobots, mechanisms, or virtual environments inherently try to give the user the realistic feel of interactions, improving situational awareness and reducing cognitive workload. In particular, users are very sensitive to high frequency vibrations and accelerations that communicate substantial information about contact between objects, surface textures, material properties, and subtleties in the interactions. For example, vibrations on impact define the surface hardness, vibrations in contact can describe slippage. However, most haptic and telerobotic interfaces neglect and avoid this level of feedback to prevent contact stability issues, masking the available information.

Stanford researchers have developed a novel feedback approach, which combines the best of the traditional methods: robust stability with high frequency force/vibration feedback. The fundamentally asymmetric control architecture better matches the sensory capabilities of the human operator while maintaining stability regardless of the environment interactions. Furthermore, the system transmits high frequency forces without roll-off and is completely tolerant to delay. These features can improve the user experience in a variety of teleoperation applications.

Applications


  • Telerobotics
  • Haptic systems
  • Medical robotics (intuitive, surgical)
  • Man-machine interfaces
  • Fly/steer/drive by-wire interfaces
  • Military’s Man Portable Robotic System (MPRS)
  • Video games

Advantages


  • Improved user interface + user perception
  • High level of robustness to phase lag and delay
  • Sensor feedback

Publications



Innovators & Portfolio



Patent Status



Date Released

 9/25/2017
 

Licensing Contact


Anne Kopf-Sill, Licensing Associate
(650)498-8015 (Business)
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[-] Map/Timeline

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Related Keywords


haptic systems   telerobotics   instrumentation: robotics   robotic surgery   robotics   Video game science   virtual instruments   medical robotics   mobile robotics   instrumentation   05-193   
 

   

  

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01-006 Medical CAD: Diagnostic Ultrasound System and Method for Flow Analysis
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02-125 Target Tracking System

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