HRI and Haptic Interface

Haptic Joystick

• Main Goals

To ensure sufficient workspace for effective robot manipulation.

To design a master-slave system for tele-operation.

To adopt force feedback for realistic interaction with environments.

To develop a 3D virtual simulation environment for realistic manipulation and interaction.

• System Design

Sufficient workspace and force feedback to interact effectively

In-parallel mechanism: Merlet-type mechanism

Wire mechanism

Master device for tele-operation

Slave robot control using master haptic joystick

Dedicated graphic system for real-time simulation

• System Overview

• Usage

3D input devices

Virtual reality (VR) / augmented reality (AR)

Tele-presence

Medical applications

Surgery training

Robot/device control in extremely dangerous environments

Nuclear power plants

Natural and man-made disasters

Space exploration