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Design and evaluation of a haptic computer assistant for tele-manipulation tasks

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Design and evaluation of a haptic computer assistant for tele-manipulation tasks

  1. 1. DESIGN AND EVALUATION OF A HAPTIC COMPUTER ASSISTANT FOR TELE-MANIPULATION TASKS ABSTRACT This paper introduces a computer-assisted tele-operationsystem, where the control over the tele-operator is shared between a human operator and computer assistance in order to improve the overall task performance. Two units, an-action recognition and an assistance unit are introduced to provide contextspecificassistance. The action recognition unit can evaluate hap ticdata, handle high sampling rates, and deal with human behavior changes caused by the active hap tic assistance. Repairing of a broken hard drive is selected as scenario and three different tasksspecificassistance functions are designed. The overall computerassistedteleoperation system is evaluated in two steps: first, the performance of the action recognition unit is evaluated and then, the performance of the integrated computer-assisted teleoperationsystem is compared with an unassisted system by means of auser study with 15 participants. Overall action recognition ratesof about 65% are achieved. Multivariate paired comparisons showthat the computer-assisted tele-operation system significantly reducesthe human effort and damage possibility compared with atele-operation system without assistance. EXISTING SYSTEM Multimodaltele-operation systems allow a human operatorto perform complex manipulations in a remote environment by overcoming barriers like distance and scaling. Ina multimodal tele-operation system, a human operator interactswith a human–system interface to command a remotely locatedtele-operator that in his/her place interacts with the remote environment; Visual, auditory, and haptic information that are captured at the remote site are fed back to the human operator to increase his/her feeling of tele-presence. Typical application fields range from maintenance tasks in space or under water to minimally invasive surgery. PROPOSED SYSTEM In this paper, we are going to implement using ZIGBEE based Robotic ARM control.So, our implement is Single Clove based Robotic Control veryHifi Project.
  2. 2. So, by using an accelerometer sensor and some keys, the Robotic ARM will be controlled wirelessly by using a ZIGBEE. The ZIGBEE which is placed in the clove will transmit the information according to the actions performed by the accelerometer sensor and Keys to the ZIGBEE receiver which is connected with the Microcontroller. In contrast with state-of-the-art implementations our action recognition unit is not limited to actions performed in the free space, but also allows contact with the remote environment. The unit can handle high sampling rates as encountered when analyzing hap tic dataand can deal with human behavior changes caused by the active haptic assistance. The performance of the action recognition unit and implemented assistances are evaluated. Additionally, in order to show the benefits of the overall developedcomputerassistedteleoperation system, its performance is compared withunassisted tele-operation. BLOCK DIAGRAM ZIGBEE MICROCONTROLLER ZIGBEE ADXL335 Angle Sensor KEYPAD
  3. 3. HARDWARE REQURIMENT Microcontroller (Atmega) MOTOR DRIVER (L293D) ZIGBEE ADXL335 Angle Sensor Glove Keypad SOFTWARE REQURIMENT AVR-studio Sinaprog FLASH MAGIC X-CTU