Configuration

At client station (View video)

1. Human operator holding a 6DOF master arm
2. operator sees the slave arm 3D scene using a Head Mounted Display (HMD)
3. 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 Experiment

• To avoid jamming forces, that appear during the insertion, slave arm is to move in the direction that reduces these forces
• 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. (View Video)
• The main strategy of the extraction is to align peg and hole axes while pulling up the peg. (View Video)

  Water Pouring

• Pickup a cup filled with colored water and move it to vicinity of a target empty cup (View Video)
• 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. (View Video)

   Assembly 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. (View Video)
• 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 (View Video)
• Part-mating and axis alignment succeeded (View Video)
• Now the assembly complete.

   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 needle
• 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 (View video)
• To remove a drawer from its container we must tilt it up and move its back down (View video)
• To install the drawer we must tilt it up, inter its back wing, tilt it down, and push (View video)  

   Filling Wire in Needle Hole Experiment

• Operator magnified a needle scene 80 times to see the needle hole and a wire bein held by a slave arm.
• Tele-Operation using 3D visual for insrting a wire in the needle hole (View video).  

   Please see the following papers for more details:

• Mayez Al-Mouhamed, Onur Toker, and Abdul-Khalik Al-Harthy, “A 3D Vision-Based Man-Machine Interface For Hand-Controlled Telerobot”, IEEE Transactions on Industrial Electronics,  Vol 52, No 1, 2005, pp. 306-319.

• Mayez A. Al-Mouhamed, Mohammad Nazeeruddin, and Syed M.S. Islam, Experimentation of a Multi-Threaded Distributed Telerobotic Framework, Under review with the IEEE Trans. on Instrumentation and Measurements, January, 2008.

• Mayez A. Al-Mouhamed, Onur Toker, and Asif Iqbal, A Multi-Threaded Distributed Telerobotic Framework, IEEE T.on Mechatronics, Vol 11, No 5, Oct., 2006. pp. 558-566.

• Mayez A. Al-Mouhamed, Mohammad Nazeeruddin, and Nesar Merah,  Design and Analysis of Force Feedback in Telerobotics, IEEE T. on Instrumentation and Measurements, Vol 58, No 6, 2009, pp.1949-1957.  

• Mayez A. Al-Mouhamed, Onur Toker, and Asif Iqbal, Experimental Evaluation of Feedback Modalities for Five Teleoperation Tasks, Accepted for publication, The IEEE Trans. on Instrumentation and Measurements, Accepted for future publication, Volume PP,  Forthcoming,  2009 Page(s):1 – 1, Digital Object Identifier 10.1109/TIM.2009.2023828.

• Mayez A. Al-Mouhamed, Mohammad Nazeeruddin, and Syed M.S. Islam, Performance Evaluation of a Multi-Threaded Distributed Telerobotic Framework, Under review with the IEEE Trans. on Instrumentation and Measurements, January, 2008.

• Mayez Al-Mouhamed, Onur Toker, Asif Iqbal, and M. Nazeeruddin, A Distributed Framework for Relaying Stereo Vision for Telerobotics, IEEE Inter. Conference on Pervasive Services, Beirut, Lebanon, July 19-23, 2004, pp. 221-225.
• M. Al-Mouhamed, M. Nazeeruddin, and A. Iqbal, A Modular Distributed Telerobotic Client-Server System, Inter. Conference on Information and Computer Science (ICICS’04), KFUPM, Dhahran, KSA, Nov, 28-30, 2004,
• Mayez A. Al-Mouhamed, Onur Toker, Asif Iqbal, and Syed M.S. Islam, Evaluation of Real-Time Delays for Networked Telerobotics, 3^rd Inter. IEEE Conference on Industrial Informatics (INDIN’05), 10-12 August 2005, Perth, Western Australia, pp. 351-356.
• Mayez A. Al-Mouhamed, Mohammad Nazeeruddin, and Syed M.S. Islam, Evaluation of Assembly Tasks in Augmented Telerobotics, 2nd International AUS Symposium on Mechatronics (AUS-ISM05), April 19-21, 2005, Sharjah, UAE.
• Al-Mouhamed, M., Buhari, S.M., Nazeeruddin, M., Islam, S.M.S., “Qualitative Evaluation of Computer-Aided Teleopearation”, In Proc. of the 4th ACS/IEEE International Conference on Computer Systems and Applications (AICCSA-06), March 8-11, 2006, Dubai,Sharjah, UAE.
• M. A. Al-Mouhamed, M. Nazeeruddin, and N. Merah, Design and Analysis of Force Feedback in Telerobotics, 3rd International AUS Symposium on Mechatronics, April 18-20, 2006, Sharjah, UAE.
• Syed M.S. Islam, M. Al-Mouhamed, S.M. Buhari, and Talal Al-Kharoubi, “A Hierarchical Design Scheme for Application of Augmented Reality in a Telerobotic Stereo-Vision System”, the Saudi 18^th National Computer Conference (NCC18), March 26-29, 2006. Riyadh, KSA.
• M. A. Al-Mouhamed, M. Nazeeruddin, and N. Merah, Force-Based Compliant Behaviors to Augment Telerobotics, 4th International AUS Symposium on Mechatronics, March 26-29, 2007, Sharjah, UAE.
• M. Al-Mouhamed and U. F. Siddiqi, Performance Evaluation of Auctions WLAN for RoboCup Multi-Robot Cooperation, The 7th ACS/IEEE International Conference on Computer Systems and Applications (AICCSA-2009), 10-13 May 2009, Page(s):610 – 615.