KIEE - The Transactions of the Korean Institute of Electrical Engineers

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The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

ISO Journal TitleTrans. Korean. Inst. Elect. Eng.

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Title	Force Feedback System of Telepresence Robot for Remote Operation
Authors	황정욱(Hwang, Jung-Uk) ; 박태형(Park, Tae-Hyoung)
DOI	https://doi.org/10.5370/KIEE.2015.64.4.586
Page	pp.586-591
ISSN	1975-8359
Keywords	Force feedback ; Telepresence robot ; Fuzzy control ; Remote operation
Abstract	This paper proposes a force feedback system of telepresence robot for remote operation. The ultrasonic sensors attached at the robot detect the obstacles, and generate the force to the operation joystick. In order to consider the network delay, we developed the fuzzy control system using ultrasonic data and robot speed. The method to calculate the force vector from the ultrasonic data is also presented to operate the robot more accurately. The simulation and experimental results are presented to verify the safe and accurate operation of the proposed system.

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