By Manuel Ferre, Martin Buss, Rafael Aracil, Claudio Melchiorri, Carlos Balaguer
A desirable ebook that covers intimately all the newest advances in Telerobotics. A must-read for scientists, researchers and scholars in teleoperation, it describes every little thing from equipment and experimental effects to functions and advancements. Its 3 sections disguise human procedure interfaces, keep an eye on, and functions. The publication is complemented via a truly precious CD-ROM containing fifteen study movies that support to convey the fabric within the e-book to existence.
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Extra info for Advances in Telerobotics (Springer Tracts in Advanced Robotics)
Another passive design with disturbance forces very close to the human perceptual threshold is the Freedom 6S (MPB Technologies), the commercial version of Freedom 7, see . One of the disadvantages of these passive design approaches are a comparatively limited control stiﬀness due to the low physical damping present in the joints. As these purely passive devices do not provide force measurement capability they cannot be used for applications that fundamentally require the render of admittances where motion is a response to force input and not vice versa.
The safety aspect can be solved by using a 4-jointed roll-yaw-pitch-roll wrist as described in . Then, the position of the elbow can be controlled to prevent collisions with the operator because singular wrist conﬁgurations can be avoided with the selfmotion of 2 Design, Control, and Evaluation of a Hyper-redundant Haptic Device 33 force sensor revolute joint 11111 00000 00000 11111 00000 11111 Fig. 2. Typical 7 DOF anthropomorphic robot arm end-eﬀector Fig. 3. Hyper-redundant haptic device ViSHaRD10 the redundant wrist.
Although a SCARA segment with three links is suﬃcient for the elimination of the singularity in the center of the planar workspace we decided for an arm with 4 revolute joints (4R) for two reasons: First, it is well known that the 4R arm provides improved dexterity compared to the 3R arm  and second, the avoidance of user interference is much simpler to achieve. Alternatively we weighed up the use of a 2 DOF linear axes design for the positioning in the x-y-plane as this also provides an interior singularity free workspace.