The command of a virtual industrial robot using a dedicated haptic interface Silviu BUTNARIU 1,a , Florin GÎRBACIA 2,b 1,2 Transilvania University of Braşov, 29 Eroilor Blvd., RO-500036, Braşov, Romania a butnariu@unitbv.ro, b garbacia@unitbv.ro Keywords: Virtual Reality, exoskeleton, robot programming. Abstract. In this paper is presented a study regarding the possibilities of commandinga virtual robot using a haptic interface. In order to demonstrate the functionality of this concept, a dedicated device with 1 DOF was developed. This device consists of twin motor-gearbox able to acquire and transmit the angular data of the shaft and return a haptic feedback corresponding to the robot movement. The proposed haptic device makes it possible to command one joint of an industrial robot and can be used as an essential component for the development of an exoskeleton for human arm and is able to generate a haptic interaction for all the joints. The exoskeleton solution will allow a structural similarity between the haptic device and an articulated robot arm. The test results with haptic feedback scenarios show that the proposed system can help inexperienced users to handle robot operation and programming tasks in an intuitive way. Introduction Industrial robots are currently used in the manufacturing operations like assembly, welding, painting, etc. Programming the industrial robots is a complex and time-consuming task that requires technical expertise. Due to customized products, is required the increase of flexibility and adaptability regarding the posibility to change tasks. In order to make robot programming easier , new and more intuitive ways for people to interact with robots need to be developed. Therefore, an assisted robot has various significant advantages compared to the full automation in the following areas: in assembly lines [10], in welding [6] or in construction [5]. On the other hand, an assisted robot is used in the field of medicine, in rehabilitation [3], in surgery [11, 13], or in medical interventions, in long-term space missions [9], where the robot provides the necessary motion control in order to respect the particularities and restrictions of the applications. These robots are able to perform complex procedures with different technique, guided remotely by a skilled specialist and can be controlled using equipment with haptic feedback. Robotic arms are a standard component in various manufacturing processes, and their kinematics are clearly inspired by the human arm. The robotic system has always played the role of ‘‘replacing” and ‘‘confronting” the human being [14]. The exoskeleton is an electromechanical structure worn by the operator and matching the shape and functions of human body. It is able to augment the ability of human limb and/or to treat muscles, joints or skeletal parts which are weak, ineffective or injured caused by a disease or a neurological condition. The exoskeleton works mechanically in parallel with the human body and can be actuated passively or actively. The implementation of the exoskeleton can be classified into three main groups: human power augmentations, haptic interactions and rehabilitations [2]. In [15], the authors proposed an exoskeleton for arms using, in order to obtain the force – feedback, a pneumatic system consisting of the double acting cylinder and a set of high speed on – off valves. Similarly, Ganguly presented in [7] an actuator used to generate force-feedback based on Pneumatic Artificial Muscle (PAM). Advanced Materials Research Vol. 837 (2014) pp 543-548 © (2014) Trans Tech Publications, Switzerland doi:10.4028/www.scientific.net/AMR.837.543 All rights reserved. No part of contents of this paper may be reproduced or transmitted in any form or by any means without the written permission of TTP, www.ttp.net. (ID: 193.254.230.204-28/10/13,15:25:51)