TFG

Guías hápticas asociadas a objetos reales

Work default illustration

Information

  • Started: 07/07/2016
  • Finished: 26/05/2017

Description

In the field of telemanipulation devices, where an operator controls a remote robotic arm, one of the most important focuses is on security. Up to date, most users depend on their own ability and on the assistance offered by these devices. The most common aids consist in including a camera, to provide greater visibility, and in systems that increase the sensitivity of the user movements. A possible aid is to assist in the interaction the interaction of the user with small or difficult to be accessed areas, providing a support which concentrates the approach paths towards the considered zone. In addition, it allows to restrict the access to other potentially sensitive areas, that is, avoiding that the user touches them unintentionally. This is the goal of what we call haptic guides. In order to interact with them, a haptic device is required. The haptic device can constitute the user interface within a telemanipulation system, while at the same time providing the possibility of touching these guides. In order to develop such guides, we use techniques of virtual objects construction with funnel shape and collision detection algorithms between two virtual objects. A Kinect sensor is used for the selecting the delimited area, as desired by the user. Computer vision techniques like filtering, segmentation and edges detection of a point cloud are used for performing this area selection.