The DLR Telepresence Experience in Space and Surgery
Preusche, Carsten and Reintsema, Detlef and Ortmaier, Tobias and Hirzinger, Gerd
The DLR Telepresence Experience in Space and Surgery.
In: Proceedings of Joint International COE/HAM-SFB453, pp. 35-40.
The 21st Century COE Project Office (Japan).
Joint International COE/HAM-SFB453, 2005-10-06, Tokyo (Japan).
High-fidelity telepresence is considered to be a key subject for the development of advanced robotic applications in space and surgery. The fact that there are only few robots in space and surgery is mainly due to the lack of broadly available sophisticated autonomy and haptic feedback within present robotic systems. Nevertheless, these requirements need to be fullled to overcome telepresence barriers, such as (communication) delay, scaling, matter, hazard etc. Besides the technological need for ultralight impedance-controlled robots combined with a high-speed data link the telepresence control strategies including supervisory and bilateral control are essential for high-delity telepresence and an immersive impression of the remote side to the human operator.
This approach is successfully tested recently within the technology experiment ROKVISS, Germany's present space robotic project. Its aim is the verication and qualication of the DLR's newest lightweight robot joint technologies and provides, for the rst time, realistic force feedback in a telepresence space application. The same holds for the new telepresence system for minimally invasive robotic surgery The system will provide realistic 6DoF force/torque feedback of the manipulation wrench as well as of the grasping force. Therefore, a lightweight robot for surgery is built, including a high-speed data link to the haptic master station.
|Document Type:||Conference or Workshop Item (Speech, Paper)|
|Title:||The DLR Telepresence Experience in Space and Surgery|
|Authors||Institution or Email of Authors|
|Date:||6 October 2005|
|Journal or Publication Title:||Proceedings of Joint International COE/HAM-SFB453|
|In ISI Web of Science:||No|
|Page Range:||pp. 35-40|
|Publisher:||The 21st Century COE Project Office (Japan)|
|Keywords:||Telepresence, Bilateral Control, Supervisory Control, Shared Control, Telesurgery, Space|
|Event Title:||Joint International COE/HAM-SFB453|
|Event Location:||Tokyo (Japan)|
|Event Type:||international Conference|
|HGF - Research field:||Aeronautics, Space and Transport (old)|
|HGF - Program:||Space (old)|
|HGF - Program Themes:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research area:||Space|
|DLR - Program:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research theme (Project):||W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)|
|Institutes and Institutions:||Institute of Robotics and Mechatronics > Robotic Systems|
|Deposited On:||14 Feb 2008|
|Last Modified:||12 Dec 2013 20:08|
Repository Staff Only: item control page