{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:17:56Z","timestamp":1737263876913,"version":"3.33.0"},"reference-count":25,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5003,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1993,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Force feedback can enhance the efficiency of a teleoperation system by providing the operator with a sense of<jats:italic>feel<\/jats:italic>of the forces and torques arising from the interaction of the slave manipulator with the remote environment. This article addresses the kinematic analysis and control of a Parallel FOrce\u2010Reflecting Hand Controller (PFORHC) whose design and implementation are based on a fully parallel mechanism. Kinematic analysis on the PFORHC is performed and results in a closed\u2010form solution for the inverse kinematics. The forward kinematics is solved by Newton\u2010Raphson's method. A fixed\u2010gain PD control scheme is developed for force feedback control. Experiments are conducted to study the performance of the force\u2010reflecting capability of the PFORHC. Experimental results show that the force control scheme utilizing a handgrip force sensor provides smaller steady\u2010state errors as compared to the case utilizing no handgrip force sensor.<\/jats:p>","DOI":"10.1002\/rob.4620100511","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:28:36Z","timestamp":1183728516000},"page":"745-766","source":"Crossref","is-referenced-by-count":10,"title":["Kinematics and control of a fully parallel force\u2010reflecting hand controller for manipulator teleoperation"],"prefix":"10.1002","volume":"10","author":[{"given":"Mark D.","family":"Bryfogle","sequence":"first","affiliation":[]},{"given":"Charles C.","family":"Nguyen","sequence":"additional","affiliation":[]},{"given":"Sami S.","family":"Antrazi","sequence":"additional","affiliation":[]},{"given":"Peter C.","family":"Chiou","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","first-page":"46","volume-title":"Electronically controlled manipulator","author":"Goertz R. C.","year":"1954"},{"key":"e_1_2_1_3_2","first-page":"48","article-title":"Controlling remote manipulators through kinesthetic coupling","volume":"2","author":"Bejczy A. K.","year":"1983","journal-title":"Computers in Mechanical Engineering"},{"key":"e_1_2_1_4_2","doi-asserted-by":"crossref","unstructured":"HandlykkenandT.Turner \u201cControl system synthesis for a six degree of freedom universal force reflecting hand controller \u201d Proc. of the 19th IEEE Conf. on Decision and Control Albuquerque NM 1980.","DOI":"10.1109\/CDC.1980.271992"},{"key":"e_1_2_1_5_2","unstructured":"P. J.Kilpatrick \u201cThe Use of a Kinesthetic Supplement in an Interactive Graphics System \u201d Ph.D. dissertation University of North Carolina at Chapel Hill Chapel Hill NC 1976."},{"key":"e_1_2_1_6_2","unstructured":"H. L.MartinandW. R.Hammel \u201cJoining teleoperation with robotics for remote manipulation in hostile environments \u201d Conf. Proc. of Robots 8 Robotics International of Society of Manufacturing Engineers Dearborn MI 1984 Vol. 1."},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/0016-0032(59)90091-2"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/0016-0032(59)90072-9"},{"key":"e_1_2_1_9_2","unstructured":"A. M.Noll \u201cMan\u2010Machine Tactile Communication \u201d Ph.D. dissertation Polytechnic Institute Brooklyn NY 1971."},{"key":"e_1_2_1_10_2","unstructured":"D.Whitney \u201cHistorical perspectives and state of the art in robot force control \u201d IEEE International Conf. on Robotics and Automation St. Louis MO 1985."},{"key":"e_1_2_1_11_2","first-page":"577","volume-title":"Robotics and Manufacturing","author":"Kan E. P.","year":"1988"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88057"},{"key":"e_1_2_1_13_2","doi-asserted-by":"crossref","unstructured":"G. J.Raju G. C.Verghese andT. B.Sheridan \u201cDesign issues in 2\u2010port network models of bilateral remote manipulation \u201d Proc. of the 1989 International Conf. on Robotics and Automation 1989 pp.1316\u20131321.","DOI":"10.1109\/ROBOT.1989.100162"},{"key":"e_1_2_1_14_2","doi-asserted-by":"crossref","unstructured":"B.HannafordandR.Anderson \u201cExperimental and simulation studies of hard contact in force reflecting teleoperation \u201d Proc. of the 1989 International Conf. on Robotics and Automation 1989 pp.584\u2013589.","DOI":"10.1109\/ROBOT.1988.12114"},{"key":"e_1_2_1_15_2","doi-asserted-by":"crossref","unstructured":"J. F.JansenandR. L.Kress \u201cControl of a teleoperator system with redundancy based on passivity conditions \u201d Proc. of the 1991 IEEE International Conf. on Robotics and Automation Sacramento CA 1991 pp.478\u2013484.","DOI":"10.1109\/ROBOT.1991.131624"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1965_180_029_02"},{"key":"e_1_2_1_17_2","unstructured":"D. R.Kerr \u201cAnalysis properties and design of a Stewart\u2010platform transducer \u201d Trends and Developments in Mechanisms Machines and Robotics\u20141988 ASME Proc. of the 20th Biennial Mechanisms Conf. 1988."},{"key":"e_1_2_1_18_2","unstructured":"R.HoffmanandM. C.McKinnon \u201cVibration modes of an aircraft simulator motion system \u201d Proc. of the The Fifth World Congress for the Theory of Machines and Mechanisms an ASME Publication 1979 pp.603\u2013606."},{"key":"e_1_2_1_19_2","doi-asserted-by":"crossref","unstructured":"E. F.Fichter \u201cA Stewart platform\u2010based manipulator: General theory and practical construction \u201d Int. J. of Robotics Research 157\u2013182 (Summer1986).","DOI":"10.1177\/027836498600500216"},{"journal-title":"Int. J. of Robotics and Automation","article-title":"Analysis and experimentation of a Stewart platform\u2010based force\/torque sensor","author":"Nguyen C. C.","key":"e_1_2_1_20_2"},{"key":"e_1_2_1_21_2","unstructured":"Sivaet al. \u201cDevelopment of a general purpose hand controller for advanced teleoperation \u201d Proc. of the International Symp. on Teleoperation and Control 1988 pp.277\u2013290."},{"key":"e_1_2_1_22_2","doi-asserted-by":"crossref","unstructured":"P.Fischer R.Daniel andK. V.Siva \u201cSpecification and design of input devices for teleoperation \u201d Proc. of the 1990 IEEE International Conf. on Robotics and Automation Sacramento CA 1990 pp.540\u2013545.","DOI":"10.1109\/ROBOT.1990.126036"},{"key":"e_1_2_1_23_2","doi-asserted-by":"crossref","unstructured":"P. A.MillmanandJ. E.Colgate \u201cDesign of a four degree\u2010of\u2010freedom force\u2010reflecting manipulandum with a specified force\/torque workspace \u201d Proc. of the 1991 IEEE International Conf. on Robotics and Automation Sacramento CA 1991 pp.1488\u20131493.","DOI":"10.1109\/ROBOT.1991.131826"},{"key":"e_1_2_1_24_2","unstructured":"G. L.Long andC. L.Collins \u201cA pantograph linkage parallel platform master hand controller for force reflection \u201d Proc. of the 1992 International Conf. on Robotics and Automation Nice France 1992."},{"key":"e_1_2_1_25_2","first-page":"321","volume-title":"Robotics Research: The Third International Symposium","author":"Inoue H.","year":"1986"},{"key":"e_1_2_1_26_2","doi-asserted-by":"crossref","unstructured":"C. C.Nguyen Z.\u2010L.Zhou S. S.Antrazi andC. E.CampbellJr. \u201cEfficient computation of forward kinematics and Jacobian matrix of a Stewart platform\u2010based manipulator \u201d Proc. of IEEE Southeastcon '91 Williamsburg VA 1991 pp.869\u2013874.","DOI":"10.1109\/SECON.1991.147884"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620100511","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620100511","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:39:25Z","timestamp":1737185965000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620100511"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1993,7]]},"references-count":25,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1993,7]]}},"alternative-id":["10.1002\/rob.4620100511"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620100511","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1993,7]]}}}