|제목(국문)||진동모터로 구성된 행틱 디바이스를 이용한 장애물 정보 전달 및 제어 방법|
|제목(영문)||Obstacle Information Transfer and Control Method using Haptic Device consist of Vibration Motors|
노경욱 (Kyung-Wook Noh ,department of Interdisciplinary Program in Robotics, Pusan National University ) ▷공저자네트워크등록하기
강선균 (K.S.K ,부산대학교 전자전기공학과 ) ▷공저자네트워크등록하기
한종호 (Jong-Ho Han ,부산대학교 전자전기공학과 ) ▷공저자네트워크등록하기
이장명 (JangMyung-Lee ,부산대학교전자공학부 ) ▷공저자네트워크등록하기
In this paper, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an obstacle and to avoid it. The haptic device has been attached on the top of a joystick so that the user can remotely control the mobile robot to avoid the obstacles which are recognized by the ultrasonic sensors. Also，the invisible environment is recognized more accurately overlapping the data from the ultrasonic sensors. There are five vibration motors in the haptic device to indicate the direction of the obstacle. So the direction of the obstacle can be recognized by the vibration at the finger on each vibration motor. For various situations and surrounding environments, experiments are performed using fuzzy controller and overlapping ultrasonic sensors. The results demonstrate the effectiveness of the proposed haptic joystick.
|keyword||haptic device, haptic joystick, haptic feedback, ultrasonic sensor, teleoperation|