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The DLR Telepresence Experience in Space and Surgery

Preusche, Carsten and Reintsema, Detlef and Ortmaier, Tobias and Hirzinger, Gerd (2005) 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).

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Abstract

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:
AuthorsInstitution or Email of Authors
Preusche, CarstenUNSPECIFIED
Reintsema, DetlefUNSPECIFIED
Ortmaier, TobiasUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:6 October 2005
Journal or Publication Title:Proceedings of Joint International COE/HAM-SFB453
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 35-40
Editors:
EditorsEmail
Buss, MartinUNSPECIFIED
Kakikura, MasayoshiUNSPECIFIED
Publisher:The 21st Century COE Project Office (Japan)
Status:Published
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
Event Dates:2005-10-06
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)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Carsten Preusche
Deposited On:14 Feb 2008
Last Modified:12 Dec 2013 20:08

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