The Office of Technology Licensing was established in 1970 to transfer technologies developed at Stanford. Find out more about OTL's history, mission, staff, and statistics.

Login to TechFinder » 

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


  • US patent 8,190,292: High frequency feedback in telerobotics
  • Tanner, N. A., and Niemeyer, G., 2006, "Stabilization Through Gyration: A Wave Variable Approach to High Frequency Force Feedback in Telerobotics", IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Arlington, VA, pp. 153-159.
  • Tanner, N. A., and Niemeyer, G., 2005, "Improving Perception in Time Delayed Teleoperation", IEEE Int. Conf. on Robotics and Automation, Barcelona, Spain, pp. 354-359.
  • Niemeyer, G., Diolaiti, N., and Tanner, N.A., 2007, "Wave Haptics: Encoderless Virtual Stiffnesses", in Robotics Research: Results of the 12th Int. Symposium, eds. S. Thrun, R. Brooks, H. Durrant-Whyte, Springer Verlag, New York, pp. 22-33.
  • Tanner, N. A., and Niemeyer, G., 2005, "Improving Perception in Time Delayed Telerobotics", Int. Journal of Robotics Research, vol. 24, no. 8, pp. 631-644
  • Other publications:
  • Diolaiti, N., Niemeyer, G., and Tanner, N., 2007, "Wave Haptics: Building Stiff Controllers from the Natural Motor Dynamics", Int. Journal of Robotics Research, vol. 26, no. 1, pp. 5-21.
  • Tanner, N.A., and Niemeyer, G., 2006, "High-Frequency Acceleration Feedback in Wave Variable Telerobotics", IEEE/ASME Transactions on Mechatronics, vol. 11, no. 2, pp. 119-127.

Related Web Links



Innovators & Portfolio



Patent Status



Date Released

 11/4/2013
 

Licensing Contact


Anne Kopf-Sill, Licensing Associate
(650)498-8015 (Business)
Login to Request Information

[-] Map/Timeline

96-003 Interdigital Cantilever
99-156 Compact transform spectrometer based on sampling a standing wave
01-006 Medical CAD: Diagnostic Ultrasound System and Method for Flow Analysis

more technologies

Related Keywords


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

   

  

Also of Interest...
96-003 Interdigital Cantilever
99-156 Compact transform spectrometer based on sampling a standing wave
01-006 Medical CAD: Diagnostic Ultrasound System and Method for Flow Analysis

Recently Viewed...
S05-193 High Frequency Feedback in Telerobotics