Kyungwook Noh1, Donghyuk Lee2, Sunkyun Kang2, Jaewon An2, Jangmyung Lee2
(1. Department of Interdisciplinary Program in Robotics, Pusan National University, Busan 609-735, Korea;2. Department of Electrical Engineering, Pusan National University, Busan 609-735, Korea)
Abstract： A haptic device is proposed which gives the user feedback information on their location and orientation of the obstacle through the mobile robot that detects the obstacle in an environment where the user cannot see. Mobile robot recognizes the exact position of the obstacle through configuring the nested ultrasonic sensor and giving feedback information to the haptic device. The haptic device consisting of five vibration motors can realize the haptic through the vibration of user's finger using the position information of the obstacle received feedback. In addition, it has high accuracy to recognize the surrounding environment and realizes the various situations with the fuzzy controller and the nested ultrasonic sensors.
Key words： haptic device; teleoperation; haptic feedback; mobile robot; obstacle recognition
CLD number： TP242.6 Document code： A
Article ID： 1674-8042(2013)04-0376-05 doi： 10.3969/j.issn.1674-8042.2013.04.016
References
[1] Kweon Y T, Kim M K, Kang H, et al. Remote control of a mobile robot using haptic device. In: Proceedings of Korean Society of Precision Engineering Autumn Conference, Busan, Korea, 2004: 120-124.
[2] Ko A K, Choi J Y, Kim H C, et al. A haptic interface using a force-feedback joystick. Journal of Institute of Control， Robotics and Systems, 2007, 13(12): 1207-1212.
[3] Yeo H J, Sung M H. Fuzzy control for the obstacle avoidance of remote control mobile robot. Journal of Institute of Electronics Engineers of Korea, 2011, 48(1): 47-54.
[4] Kyung K U, Park J S. The state of the art and R & D perceptives on haptics. Electronics and Telecommunications Trends, 2006, 21(5): 93-108.
[5] Kim H, Kyung K U, Park J, et al. The state-of-the-art on haptic interface. Information Technology, 2010, 8(1): 7-15.
[6] Han S, Lee J M. Tele-operation of a mobile robot using a force reflection joystick with a single hall sensor. In: Proceedings of the 16th IEEE International Conference on Robot & Human Interactive Communication, Jeju, Korea, 2007: 206-211.
[7] Choi Y K, Choi W S, Song J B. Obstacle avoidance of a mobile robot using low-cost ultrasonic sensors with wide beam angle. Journal of Institute of Control, Robotics and Systems, 2009, 15(11): 1102-1107.
[8] Kwon J H, Kim T Y, Lyou J. Corridor traveling and map building of an omni-directional mobile robot with ultrasonic array. In: Proceedings of the 7th Defense Technology Conference, Seoul, Korea, 2011: 820-829.
[9] Kim S B, Kim H B. Comparative analysis on performance indices of obstacle detection for an overlapped ultrasonic sensor ring. Journal of Institute of Control, Robotics and Systems, 2012, 18(4): 321-327.
[10] Kim S B, Kim H B. Design method of overlapped ultrasonic sensor ring for autonomous mobile robots. In: Proceedings of ICORS Annual Conference 2010, Chuncheon, Gangwon, Korea, 2010: 171-174.
[11] Kim S B, Lee S H. Positional uncertainty reduction of overlapped ultrasonic sensor ring for efficient mobile robot obstacle detection. Journal of Institute of Signal Processing and Systems, 2009, 10(3): 198-206.
[12] Kim S B, Kim H B. Optimally overlapped ultrasonic sensor ring with minimal positional uncertainly in obstacle detection. In: Proceedings of International Conference on Control Automation and Systems, Goyang, Gyeonggi, Korea, 2010: 546-550.
[13] Choi B J, Jin S. Design of simple-structured fuzzy logic system based driving controller for mobile robot. Journal of Korean Institute of Intelligent Systems, 2012, 22(1): 1-6.
[14] ZHU An-min, YANG S X. A fuzzy logic approach to reactive navigation of behavior-based mobile robots. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA'04) , New Orleans, LA, USA, 2004, 5: 5045-5050.
[full text view]
