Design of an Intelligent
Telerobotic System (KACST project AT-20-80)
client station (View video)
- Human operator holding a 6DOF master arm
- operator sees the slave arm 3D scene using
a Head Mounted Display (HMD)
- Operator feels the force feedback
transmitted through the network and displaced on the master arm.
At server station
- The slave arm (Puma 560) motion is a
replica of master arm motion transmitted through the network.
- A force sensor is installed at the slave
arm wrist to detect the contact forces on the used object.
- The slave server transmit to the client a
real time stream of force information.
- Two cameras are set with 6cm disparity
(like human eyes) to monitor the slave scene.
- The slave server transmit a real time
stereo vision to the client.
| Peg-in-Hole Insertion
- To avoid jamming forces, that appear during
the insertion, slave arm is to move in the direction that reduces these
- A local force regulation (server program)
makes correction to the peg position & orientation to reduce the contact
forces (View Video 1 & Video 2)
- A remote force regulation (operator)
adjusts the peg position to reduce displayed forces.
- The main strategy of the insertion is to
align peg and hole axes while pushing down the peg.
- The main strategy of the extraction is to
align peg and hole axes while pulling up the peg.
- Pickup a cup filled with colored water and
move it to vicinity of a target empty cup (View
- Operator twists the cap at nearly constant
altitude to pour the water
- Operator shifts his arm back into its
dexterity area while freezing the slave arm (like a mouse function)
- Now the operator can completely pour the
water and withdraws the empty cup.
of a Water-Pump
- A water pump consists of a metallic base, a
motor, and a plastic cover.
- First step is to slave arm pick up the
motor, move it close to the metallic base, align its axes with that of the
base, carry out the part-mating, and release the motor.
- Now we have a sub-assembly consisting of
the base and the motor.
- Second step is to have the slave arm picks
up the plastic cover, align its axes with that of the sub-assembly, carry
out the part -mating, and release the plastic cover.
- Part-mating and axis alignment may fail
- Part-mating and axis alignment succeeded
- Now the assembly complete.
Introducing a Wire in a Needle Hole Experiment (View video)
- Here, introducing a wire (0.5 mm D)
into a rectangular hole (0.65 mm x 1.5 mm) of a needle (1 mm
- Scale-down stereo vision (100:1) and hand
motion (30:1) spaces to tele-operate in small scale
- Operator searches appropriate insertion
direction using on-line hand-tool motion coordination
- Operator uses 3D stereo vision without
- Space scalability is critical to robotic
- Transposing surgeon skills to a variety of
scales inside the body of the patient
- Telepresence of surgeon skills augmented
with miniature haptic tools every where at any scale.
Wire Wrapping Experiment (View video)
- Space scalability allows to scale down the
motion to a small space with higher accuracy
- Wire-wrapping requires a gun is be inserted
in a set of successive needles that are 2 mm distant from each other
- Operator hand is to zero the mis-alignment
error while avoiding jamming due to lateral contact of the tool head and
- Reflected force feedback and stereo vision
provide orthogonal information that complement each other
- Space scalability allows a surgeon to carry
out flexible operations inside the patient's body without open-surgery
Opening/Closing Drawer Experiment
- Operating the drawer may require
multi-objective eye-hand motion coordination
- To pull the drawer the operator hand is to
move backward while avoiding lateral contact of the drawer
- To remove a drawer from its container we
must tilt it up and move its back down (View
- To install the drawer we must tilt it up,
inter its back wing, tilt it down, and push (View
Operating Electrical Switches and unlocking a lock
- Operating electrical switches require
eye-hand motion coordination with impedance control
- Push-bottom switch
- Setting up the tool in a proper operating
- Adjusting the tool force to match the task
impedance (no more, no less) (View
- Bi-stable switch
- Setting up the direction and position of
tool to switch ON (down-up)
- Pull up tool and repeat switch OFF
- Unlocking a lock consists of introducing a
key and unlocking
- Introducing a key in the lock requires
excellent eye-hand coordination (View
- Turning the key to unlock requires turning
the key while maintaining key orientation (View