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The DLR Bimanual Haptic Device with Optimized Workspace

Hulin, Thomas and Hertkorn, Katharina and Kremer, Philipp and Preusche, Carsten and Schätzle, Simon and Artigas, Jordi and Sagardia, Mikel and Zacharias, Franziska (2011) The DLR Bimanual Haptic Device with Optimized Workspace. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 3441-3442. ISBN 978-1-61284-380-3.

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Abstract

This article accompanies a video that presents a bimanual haptic device composed of two DLR/KUKA Light-Weight Robot (LWR) arms. The LWRs have similar dimensions to human arms, and can be operated in torque and position control mode at an update rate of 1kHz. The two robots are mounted behind the user, such that the intersecting workspace of the robots and the human arms becomes maximal. In order to enhance user interaction, various hand interfaces and additional tactile feedback devices can be used together with the robots. The presented system is equipped with a thorough safety architecture that assures safe operation for human and robot. Additionally, sophisticated control strategies improve performance and guarantee stability. The introduced haptic system is well suited for versatile applications in remote and virtual environments, especially for large unscaled movements.

Document Type:Article
Title:The DLR Bimanual Haptic Device with Optimized Workspace
Authors:
AuthorsInstitution or Email of Authors
Hulin, ThomasThomas.Hulin@dlr.de
Hertkorn, KatharinaKatharina.Hertkorn@dlr.de
Kremer, PhilippPhilipp.Kremer@dlr.de
Preusche, CarstenCarsten.Preusche@dlr.de
Schätzle, SimonSimon.Schaetzle@dlr.de
Artigas, JordiJordi.Artigas@dlr.de
Sagardia, MikelMikel.Sagardia@dlr.de
Zacharias, FranziskaFranziska.Zacharias@dlr.de
Date:May 2011
Journal or Publication Title:Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Page Range:pp. 3441-3442
ISBN:978-1-61284-380-3
Status:Published
Keywords:Haptic device, robot, telemanipulation
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: Thomas Hulin
Deposited On:14 Jun 2011 09:16
Last Modified:12 Dec 2013 21:17

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