Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 5 of 5 for “"Virtual fixtures"”.
-
Haptic teleoperation of mobile manipulator systems using virtual fixtures.
… joysticks. To improve efficiency and accuracy, virtual fixtures were implemented with the use of a haptic joystick. Instead of modeling the MMS as a single unit with three redundant degrees-of-freedom (DOF), the operator controls either the manipulator or the mobile base, with the command …
-
An Intelligent Guidance System for Computer-Guided Surgical Training
… fuzzy sliding mode controllers are proposed with virtual fixtures. To generate a training task, modeling specifications and a text-based task description method are presented as well. While performing a training task, CAST collects movement data, then objective assessment results are provided to a …
-
Gaze control for remote robotics
… This system is built on by adding haptic virtual fixtures which guide the operator towards the target point and restrict motion to an area near the target through the use of a safety boundary. This approach is then adjusted based on the system's confidence in the predicted target position. …
-
Design and Optimisation of Virtual Mechanism Controllers With Applications in Robotic Surgery
… intuitive robotic systems. This thesis explores virtual mechanism control, a structured approach to designing robot controllers using virtual mechanical components. This method offers advantages in simplicity of implementation, ease of design, and intuitive yet flexible behaviour, while …
-
Remote robotic manipulation task execution using affordance primitives
… objects. Affordance primitives may be used as virtual fixtures during real-time teleoperated control, or autonomously with a flexible and reactive motion planner presented in this dissertation. They are based on screw theory, and naturally capture simply articulated objects with one or more …