Quan-Zen Ang

University of Vic, Vic, Catalonia, Spain

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Publications (4)3.96 Total impact

  • Quan-Zen Ang · Ben Horan · Saeid Nahavandi
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    ABSTRACT: Despite recent advances in artificial intelligence and autonomous robotics, teleoperation can provide distinct benefits in applications requiring real-time human judgement and intuition. However, as robotic systems are increasingly becoming sophisticated and are performing more complex tasks, realizing these benefits requires new approaches to teleoperation. This paper introduces a novel haptic mediator interface for teleoperating mobile robotic platforms that have a variety of manipulators and functions. Identical master–slave bilateral teleoperation of the robotic manipulators is achieved by representing them in virtual reality and by allowing the operator to interact with them using a multipoint haptic device. The operator is also able to command motions to the mobile platform by using a novel haptic interaction metaphor rather than a separate dedicated input device. The presented interaction techniques enable the operator to perform a wide range of control functions and achieve functionality similar to that of conventional teleoperation schemes that use a single haptic interface. The mediator interface is presented, and important considerations such as workspace mapping and scaling are discussed.
    No preview · Article · Mar 2015 · IEEE Systems Journal
  • Quan-Zen Ang · Ben Horan · Hamid Abdi · Saeid Nahavandi
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    ABSTRACT: The ability to perform accurate micromanipulation offers wide-reaching benefits and is of increasing interest to researchers. Recent research into microgripper, microtweezer, and microforcep systems contributes toward accurate micrograsping andmanipulation. Despite these efforts, achieving adequate operator control remains a distinct research challenge. Haptic interfaces interact with the human's haptic modality and offer the ability to enhance the operator's controllability of micromanipulation systems. Our previous work introduced single-point haptic guidance to assist the operator during intracellular microinjection. This paper extends the approach to propose multipoint haptic guidance for micrograsping tasks. Accurate micrograsping is valuable in many applications, including microassembly and biomanipulation. A multipoint haptic gripper facilitates haptic interaction, and haptic guidance assists the operator in controlling systems suitable for micrograsping. Force fields are used to guide the operator to suitable grasp points on micrometer-sized objects and consist of attractive and repulsive forces. The ability of the force field to effectively assist the operator in grasping the cell is evaluated using a virtual environment. Evaluation results demonstrate the ability of the approach to significantly reduce participants' average grasping error.
    No preview · Article · Jan 2014 · IEEE Systems Journal
  • Quan-Zen Ang · B. Horan · Z. Najdovski · S. Nahavandi
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    ABSTRACT: Haptic interaction has received increasing research interest in recent years. Currently, most commercially available haptic devices provide the user with a single point of interaction. Multi-point haptic devices present a logical progression in device design and enable the operator to experience a far wider range of haptic interactions, particularly the ability to grasp via multiple fingers. This is highly desirable for various haptically enabled applications including virtual training, telesurgery and telemanipulation. This paper presents a gripper attachment which utilises two low-cost commercially available haptic devices to facilitate multi-point haptic grasping. It provides the ability to render forces to the user's fingers independently and using Phantom Omni haptic devices offers several benefits over more complex approaches such as low-cost, reliability, and ease of programming. The workspace of the gripper attachment is considered and in order to haptically render the desired forces to the user's fingers, kinematic analysis is discussed and necessary formulations presented. The integrated multi-point haptic platform is presented and exploration of a virtual environment using CHAI 3D is demonstrated.
    No preview · Conference Paper · Apr 2011
  • Quan-Zen Ang · Ben Horan · Zoran Najdovski · Saeid Nahavandi
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    ABSTRACT: The majority of commercially available haptic devices offer a single point of haptic interaction. These devices are limited when it is desirable to grasp with multiple fingers in applications including virtual training, telesurgery and telemanipulation. Multipoint haptic devices serve to facilitate a greater range of interactions. This paper presents a gripper attachment to enable multi-point haptic grasping in virtual environments. The approach employs two Phantom Omni haptic devices to independently render forces to the user’s thumb and other fingers. Compared with more complex approaches to multi-point haptics, this approach provides a number of advantages including low-cost, reliability and ease of programming. The ability of the integrated multi-point haptic platform to interact within a CHAI D virtual environment is also presented.
    No preview · Conference Paper · Mar 2011