Microcontroller-operated anthropomorphic manipulator with haptic feedback

Authors:
A. R. Al-Ali;M. A. Jarrah;R. Dhaouadi
Affiliations:
Computer Engineering Department, School of Engineering, American University of Sharjah, P.O. Box 26666, Sharjah, UAE;Mechanical Engineering Department, School of Engineering, American University of Sharjah, P.O. Box 26666, Sharjah, UAE;Electrical Engineering Department, School of Engineering, American University of Sharjah, P.O. Box 26666, Sharjah, UAE
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2007

Citing 2
Cited 0

Haptics Issues in Virtual Environments

CGI '00 Proceedings of the International Conference on Computer Graphics
A virtual-reality-based telerehabilitation system with force feedback

IEEE Transactions on Information Technology in Biomedicine

Quantified Score

Hi-index	0.00

Visualization

Abstract

This article presents the design of a cluster-distributed computing system to operate and control an anthropomorphic manipulator with haptic feedback. The system hardware consists of four major building blocks, anthropomorphic manipulator, haptic sensor glove, real-time microcontroller-based cluster distributed computing (CDC) network, and closed-loop controller. The system software architecture consists of three key operation modules, namely, the sensor glove, anthropomorphic manipulator and communication module. It is designed based on a shared file system concept which forms the foundation of the CDC protocol. The key advantages of this system are its novel structure and its comparatively low cost using microcontroller-based distributed cluster networks which allow large-scale expansion/integration.