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Haptic Virtual Fixtures for Robot-Assisted Manipulation

  • Conference paper
Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 28))

Abstract

Haptic virtual fixtures are software-generated force and position signals applied to human operators in order to improve the safety, accuracy, and speed of robot-assisted manipulation tasks. Virtual fixtures are effective and intuitive because they capitalize on both the accuracy of robotic systems and the intelligence of human operators. In this paper, we discuss the design, analysis, and implementation of two categories of virtual fixtures: guidance virtual fixtures, which assist the user in moving the manipulator along desired paths or surfaces in the workspace, and forbidden-region virtual fixtures, which prevent the manipulator from entering into forbidden regions of the workspace. Virtual fixtures are analyzed in the context of both cooperative manipulation and telemanipulation systems, considering issues related to stability, passivity, human modeling, and applications.

This work is supported by National Science Foundation grants #ITR-0205318 and #IIS-0347464.

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Author information

Author notes

  1. Jake J. Abbott

    Present address: Institute of Robotics and Intelligent Systems, ETH Zurich, Switzerland

Authors and Affiliations

  1. Department of Mechanical Engineering, The Johns Hopkins University, Baltimore, Maryland, 21218, USA

    Jake J. Abbott, Panadda Marayong & Allison M. Okamura

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  1. Jake J. Abbott
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  2. Panadda Marayong
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  3. Allison M. Okamura
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Stanford University, CA, 94305-9045, Stanford, USA

    Sebastian Thrun

  2. MIT Computer Science & Artificial Intelligence Laboratory (CSAIL), 32 Vassar Street, MA, 02139, Cambridge, USA

    Rodney Brooks

  3. Australian Centre for Field Robotics, University of Sydney, 2006, Sydney, Australia

    Hugh Durrant-Whyte

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© 2007 Springer-Verlag Berlin Heidelberg

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Abbott, J.J., Marayong, P., Okamura, A.M. (2007). Haptic Virtual Fixtures for Robot-Assisted Manipulation. In: Thrun, S., Brooks, R., Durrant-Whyte, H. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 28. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-48113-3_5

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  • DOI: https://doi.org/10.1007/978-3-540-48113-3_5

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-48110-2

  • Online ISBN: 978-3-540-48113-3

  • eBook Packages: EngineeringEngineering (R0)

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