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Human Safety Algorithms for a Parallel Cable-Driven Haptic Interface

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Brain, Body and Machine

Part of the book series: Advances in Intelligent and Soft Computing ((AINSC,volume 83))

Abstract

A parallel cable-driven haptic interface is designed to allow interaction with any type of virtual object. This paper presents and analyzes computational methods for addressing the issues regarding human safety and control reliability using such an interface, thereby ensuring safe operations inside the virtual world. Four strategies are explored: sensor reliability, mechanical interference management, workspace management and human-robot interaction. This paper focuses mainly on the sensors’ reliability and workspace management algorithms for a parallel cable-driven haptic interface that imposes special requirements on the control architecture design. One challenging task is to develop efficient computational algorithms for hard real-time processes included in haptic display applications which improve safety without compromising performance.

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Author information

Authors and Affiliations

  1. Computer Vision and Systems Laboratory, University Laval, Québec

    Martin J. -D. Otis, Sylvain Comtois & Denis Laurendeau

  2. Robotics Laboratory, University Laval, Québec

    Clément Gosselin

Authors
  1. Martin J. -D. Otis
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  2. Sylvain Comtois
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  3. Denis Laurendeau
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  4. Clément Gosselin
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering & Centre for Intelligent Machines, McGill University, 817 Sherbrooke St. W., H3A 2K6, Montreal, Quebec, Canada

    Jorge Angeles

  2. Department of Electrical and Computer Engineering & Centre for Intelligent Machines, McGill University, 3480 University Street, H3A 2A7, Montreal, Quebec, Canada

    Benoit Boulet  & James J. Clark  & 

  3. Department of Mechanical Engineering & Centre for Intelligent Machines, McGill University, 817 Sherbrooke St.West, H3A 2K6, Montreal, Quebec, Canada

    József Kövecses

  4. School of Computer Science & Centre for Intelligent Machines, McGill University, 3480 University Street, H3A 2A7, Montreal, QC, Canada

    Kaleem Siddiqi

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© 2010 Springer-Verlag Berlin Heidelberg

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Otis, M.J.D., Comtois, S., Laurendeau, D., Gosselin, C. (2010). Human Safety Algorithms for a Parallel Cable-Driven Haptic Interface. In: Angeles, J., Boulet, B., Clark, J.J., Kövecses, J., Siddiqi, K. (eds) Brain, Body and Machine. Advances in Intelligent and Soft Computing, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16259-6_15

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  • DOI: https://doi.org/10.1007/978-3-642-16259-6_15

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16258-9

  • Online ISBN: 978-3-642-16259-6

  • eBook Packages: EngineeringEngineering (R0)

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