New control architecturebased on PXI for a 3-finger haptic device applied to virtual manipulation

Galiana Bujanda, Ignacio and Breñosa Martínez, José Manuel and Barrio Gragera, Jorge and Ferre Pérez, Manuel (2012). New control architecturebased on PXI for a 3-finger haptic device applied to virtual manipulation. In: "EuroHaptics 2012", 12/06/2012 - 15/06/2012, Tampere, Finland. pp. 112-123.

Description

Title: New control architecturebased on PXI for a 3-finger haptic device applied to virtual manipulation
Author/s:
  • Galiana Bujanda, Ignacio
  • Breñosa Martínez, José Manuel
  • Barrio Gragera, Jorge
  • Ferre Pérez, Manuel
Item Type: Presentation at Congress or Conference (Article)
Event Title: EuroHaptics 2012
Event Dates: 12/06/2012 - 15/06/2012
Event Location: Tampere, Finland
Title of Book: Lecture Notes in Computer Science
Date: 2012
Subjects:
Freetext Keywords: Haptic devices, remote manipulation, teleoperation, multifinger devices
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

To perform advanced manipulation of remote environments such as grasping, more than one finger is required implying higher requirements for the control architecture. This paper presents the design and control of a modular 3-finger haptic device that can be used to interact with virtual scenarios or to teleoperate dexterous remote hands. In a modular haptic device, each module allows the interaction with a scenario by using a single finger; hence, multi-finger interaction can be achieved by adding more modules. Control requirements for a multifinger haptic device are analyzed and new hardware/software architecture for these kinds of devices is proposed. The software architecture described in this paper is distributed and the different modules communicate to allow the remote manipulation. Moreover, an application in which this haptic device is used to interact with a virtual scenario is shown.

More information

Item ID: 20757
DC Identifier: http://oa.upm.es/20757/
OAI Identifier: oai:oa.upm.es:20757
Deposited by: Memoria Investigacion
Deposited on: 25 Feb 2014 20:02
Last Modified: 22 Feb 2017 18:00
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