Author: Jean Vaz, Fausto Vega and Yu Hang Email: chagasva@unlv.nevada.edu
Date: Last modified on 04/04/19
Keywords: Teleoperation, Master slave system, Grasping, Manipulating.

Telerobotics Papers

1. Developments of New Anthropomorphic Robot Hand and its Master Slave System
Publisher: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Keywords: Robot hand, Multi-fingers, Master slave system, Grasping, Manipulating.

Mouri, T., Kawasaki, H. and Umebayashi, K., 2005, August. Developments of new anthropomorphic robot hand and its master slave system. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3225-3230). IEEE.

This paper showcases an anthropomorphic robot hand called KH Hand type S and its experiments of grasping and manipulating objects by master slave control. The authors present a solution for a bilateral controller applied to the five fingers anthropomorphic robot. From this presentation, the paper concludes KH Hand type S can be a reliable master slave application for peg-in-hole experiments.

From the state-of-the-art, the paper identifies challenges with master slave control. The paper addresses these challenges by introducing CKH Hand type S equipped with the 6-axes force sensor and tactile sensor at each fingertip. Furthermore, the authors used robot arm “VS6354B” made by DENSO and a force feedback glove (FFG). The results of this approach are novel, showing that the peg-in-hole task controlled by master slave system were successfully performed. In addition the results show that the controlled variables are close to the desired ones, therefore the KH Hand type S can perform dexterous object grasping and manipulation similar to a human hand.

The paper does not present theoretical principles. Instead it is focused on the description of its hardware. From the principles and results, the paper concludes that by using the KH Hand type S, robot arm and force feedback glove (FFG) grasping and manipulating the objects like the human hand is viable.

I liked this paper because: (1) it presents the control system for the experiment's data, for instance the tactile sensor output is 10 (ms) period and FFG control through a TCP/IP with a sampling cycle of 5 (ms).; (2) the results are clear and easy to follow (Figure 12 is good); and (3) it provided comprehensive experimental Master slave system block diagram which helps the reader to grasp the problem at hand. However, the paper totally lacks the theoretical background, it honestly feels like a design/testing report.

Three things I learned from this paper were: (1) the basics of design, control and software features for a master-slave hand; and (2) a feedback glove capable to transmit force data back and forth.

2. Design of a Force Reflecting Master Arm and Master Hand using Pneumatic Actuators
Publisher: Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

Lee, S., Park, S., Kim, M. and Lee, C.W., 1998, May. Design of a force reflecting master arm and master hand using pneumatic actuators. In Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No. 98CH36146) (Vol. 3, pp. 2574-2579). IEEE.

This paper describes the design of an exo-skeleton type master arm based on the kinematic analysis of the human arm while providing sufficient position measurement and force reflection capabilities. The authors used the KIST humanoid robot and graphic simulator. From this presentation, the paper concludes that the PD pressure controller is appropriate for the integration of the master hand and the robot.

From the state-of-the-art, the paper identifies challenges with master arm and hand. The paper addresses in details the kinematic design of master arm and hand. The results of this approach are novel, showing that a KIST robot and the simulation can move according with the slave arm.

The paper presents the following theoretical principles: force analysis, DH parameters derivation and closed loop PD pressure controller.

From the principles and results, the paper concludes that KIST robot along side with the simulation move according with the master arm.

I liked this paper because: (1) it presents a full derivation of the transfer function for the the PD controller; (2) it discusses the Control of the Pneumatic Actuators and (3) an analytic model is derived for the pressure control valve and cylinder.

Three things I learned from this paper were: (1) the controller design for the translation between the master arm and the robot; (2) all the parameters for the constriction of a prototype were given; and (3) the kinematic design of master arm and hand