Memorias de investigación
Ponencias en congresos:
New Control Architecture Based on PXI for a 3-Finger Haptic Device Applied to Virtual Manipulation
Año:2012
Áreas de investigación
  • Ingenierías
Datos
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
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • 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