TY - GEN
T1 - Design of TELESAR v for transferring bodily consciousness in telexistence
AU - Fernando, Charith Lasantha
AU - Furukawa, Masahiro
AU - Kurogi, Tadatoshi
AU - Kamuro, Sho
AU - Sato, Katsunari
AU - Minamizawa, Kouta
AU - Tachi, Susumu
PY - 2012
Y1 - 2012
N2 - This paper focuses on design of a dexterous anthropomorphic robot where the operator can perceive the transferring bodily consciousness to the slave robot during a tele-operation. Accordingly, we propose a telexistence surrogate anthropomorphic robot called 'TELESAR V', which was designed and constructed by development of the following: a 52 DOF slave robot with a torso, upper limbs, hands and head to model the operator's posture on all parts of the upper body and maintain a 6 DOF accuracy in arm endpoint; a HD Head mounted display with 6 DOF point of view accuracy for wide angle stereovision; and a mechanism for sensing and reproducing fingertip haptic and thermal sensation. This paper describes the development of the TELESAR V system, where the effectiveness has been verified through functional experiments.
AB - This paper focuses on design of a dexterous anthropomorphic robot where the operator can perceive the transferring bodily consciousness to the slave robot during a tele-operation. Accordingly, we propose a telexistence surrogate anthropomorphic robot called 'TELESAR V', which was designed and constructed by development of the following: a 52 DOF slave robot with a torso, upper limbs, hands and head to model the operator's posture on all parts of the upper body and maintain a 6 DOF accuracy in arm endpoint; a HD Head mounted display with 6 DOF point of view accuracy for wide angle stereovision; and a mechanism for sensing and reproducing fingertip haptic and thermal sensation. This paper describes the development of the TELESAR V system, where the effectiveness has been verified through functional experiments.
UR - http://www.scopus.com/inward/record.url?scp=84872287219&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872287219&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385814
DO - 10.1109/IROS.2012.6385814
M3 - Conference contribution
AN - SCOPUS:84872287219
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5112
EP - 5118
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -