An end to end tactile cyber physical system design

Arjun, N and Ashwin, SM and Polachan, K and Prabhakar, TV and Singh, C (2018) An end to end tactile cyber physical system design. In: 4th International Workshop on Emerging Ideas and Trends in the Engineering of Cyber-Physical Systems, EITEC 2018, 10 April 2018, Porto, pp. 9-16.

PDF EITEC 2018_9-16_2018 .pdf - Published Version Restricted to Registered users only Download (437kB) | Request a copy

Abstract

We describe design and implementation of an end to end Tactile Cyber Physical System (TCPS). We begin with proposing a generic architecture for TCPSs. We then describe a typical system in which a robotic arm at one end of the network replicates the posture of a human hand at the other end with a tactile glove. For the human operator end, we design a tactile glove having Inertial Measurement Unit (IMU) sensors for motion capture and vibrotactile actuators for tactile feedback. On the teleoperator end, we use a PhantomX reactor robotic arm with force sensors and design an inverse kinematic engine for this. We also provide a mechanism for visual feedback using a USB camera on the teleoperator end. We describe in detail the hardware and software designs of the tactile glove and the controller board for the robot. We also detail the industrial design of the tactile glove. We perform detail experiments to characterize the tactile glove, robotic arm and round-trip delay of the TCPS implementation.

Item Type:	Conference Paper
Publication:	Proceedings - 2018 4th International Workshop on Emerging Ideas and Trends in the Engineering of Cyber-Physical Systems, EITEC 2018
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to the Institute of Electrical and Electronics Engineers Inc.
Keywords:	Cyber Physical System; Embedded systems; Feedback; Inverse kinematics; Machine design; Product design; Remote control; Robotic arms; Robotics; Software design; Visual communication, Design and implementations; Generic architecture; Hardware and software designs; Inertial Measurement Unit (IMU); Round trip delay; Tactile feedback; Tactile glove; Visual feedback, Visual servoing
Department/Centre:	Division of Electrical Sciences > Electronic Systems Engineering (Formerly Centre for Electronic Design & Technology)
Date Deposited:	11 Aug 2022 09:12
Last Modified:	11 Aug 2022 09:12
URI:	https://eprints.iisc.ac.in/id/eprint/75497

Actions (login required)

View Item