Observatorio de I+D+i UPM

Descripción
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.
Internacional	Si
Nombre congreso	Eurohaptics 2012
Tipo de participación	960
Lugar del congreso	Tampere, Finland
Revisores	Si
ISBN o ISSN	978-3-642-31400-1
DOI
Fecha inicio congreso	12/06/2013
Fecha fin congreso	15/06/2013
Desde la página	112
Hasta la página	123
Título de las actas	Lecture Notes in Computer Science Haptics: Perception, Devices, Mobility, and Communication

Esta actividad pertenece a memorias de investigación

• Autor: Ignacio Galiana Bujanda (UPM)
• Autor: Jose Manuel Breñosa Martinez (UPM)
• Autor: Jorge Barrio Gragera (UPM)
• Autor: Manuel Ferre Perez (UPM)

• Creador: Grupo de Investigación: Robots y máquinas inteligentes
• Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
• Departamento: Automática, Ingeniería Electrónica e Informática Industrial