M. Ferre - Academia.edu (original) (raw)

Prof. at Universidad Politécnica de Madrid, andDirector of Centre for Automation and Robotics UPM-CSIC

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Papers by M. Ferre

Research paper thumbnail of External Force Estimation for Teleoperation Based on Proprioceptive Sensors

International Journal of Advanced Robotic Systems, 2014

Research paper thumbnail of Analysis of Eye Movements, Kinematics and Dynamic Aspects of Performance during Activities of Daily Living in Stroke Patients

Biosystems & Biorobotics, 2014

Research paper thumbnail of Interfaz háptica para tareas de manipulación

Research paper thumbnail of Springer Series on Touch and Haptic Systems

Research paper thumbnail of Experimental bilateral control by state convergence

This paper presents a discrete design and control method of teleoperation systems. The design met... more This paper presents a discrete design and control method of teleoperation systems. The design method is based on the state space formulation and it allows to obtain the control gains for any teleoperation system where the master and the slave manipulators would be represented by nth-order discrete linear transfer functions. The control method allows that the slave follows the master

Research paper thumbnail of The human role in telerobotics

This chapter introduces the main topics of a telerobotic system. It describes the architecture of... more This chapter introduces the main topics of a telerobotic system. It describes the architecture of such a system from a general point of view and emphasizes the interaction between a human operator and a robot that performs the task in the remote environment. Furthermore it focuses on multi-modal human system interfaces and explains the main features of haptic, auditory, and visual interfaces. Finally important issues for the measurement and evaluation of the attribute telepresence are described.

Research paper thumbnail of An active helideck testbed for floating structures based on a stewart-gough platform

Research paper thumbnail of Modular robot based on 3 rotational DoF modules

Research paper thumbnail of Evaluation of weight perception during unimanual and bimanual manipulation of virtual objects

Design of haptic interfaces for precise bimanual manipulation should take into account how weight... more Design of haptic interfaces for precise bimanual manipulation should take into account how weight simulation is implemented when manipulation switches between one and two hands. The importance of this is apparent in tasks where the user requires to apply vertical forces to penetrate a surface with a tool or splice a fragile object using one and/or two hands. Accurate perception

Research paper thumbnail of A modular robot system design and control motion modes for locomotion and manipulation tasks

Abstract This paper describes a modular robot system design SMART, based on three types of module... more Abstract This paper describes a modular robot system design SMART, based on three types of modules for urban search tasks. The system attempts to give a quick solution to natural and man-made disaster emergencies. It allows for rapid and cost-effective design and ...

Research paper thumbnail of Estimation of normal and tangential manipulation forces by using contact force sensors

This article describes the design and development of a lightweight, adjustable end-effector for d... more This article describes the design and development of a lightweight, adjustable end-effector for different haptic interfaces that estimates normal and tangential forces felt by the user during virtual object manipulation. This thimble was specially designed to provide ...

Research paper thumbnail of Simplified human hand models based on grasping analysis

... e-mail: cobosalvador(g),etsii.upm.es Manuel Ferre is with The Group of Robots & Intellige... more ... e-mail: cobosalvador(g),etsii.upm.es Manuel Ferre is with The Group of Robots & Intelligent Machines of Universidad Politécnica de Madrid, e-mail: m.ferre(g),upm.es Rafael Aracil is with The Group of Robots & Intelligent Machines of ... [4] Y. Endo, S. Kanai, T. Kishinami, N. Miyata ...

Research paper thumbnail of Two-hand virtual object manipulation based on networked architecture

A setup for bimanual virtual object manipulation is described in this paper. Index and thumb fing... more A setup for bimanual virtual object manipulation is described in this paper. Index and thumb fingers are inserted in the corresponding thimbles in order to perform virtual object manipulations. A gimble, with 3-rotational degrees of freedom, connects each thimble to the corresponding serial-parallel mechanical structure with 3 actuated DoF. As a result, each finger has 6 DoF, movements and forces can be reflected in any direction without any torque component. Scenarios for virtual manipulation are based on distributed architecture where each finger device has its own real-time controller. A computer receives the status of each finger and runs a simulation with the virtual object manipulation. The information of the Scenario is updated at a rate of 200 Hz. The information from the haptic controller is processed at 1 kHz; it provides a good realism for object manipulation.

Research paper thumbnail of Optimal mechanical design of modular haptic devices

 Abstract— This paper presents two possible mechanical designs for a modular haptic device. In a... more  Abstract— This paper presents two possible mechanical designs for a modular haptic device. In a modular haptic device, each module allows the interaction with a scenario by using a single finger, and by adding more modules, multi- finger interaction can be achieved. In this paper, two different mechanical designs for such haptic modules are presented and compared (4-bar and

Research paper thumbnail of Bilateral control by state convergence based on transparency for systems with time delay

Research paper thumbnail of CogWatch - Automated assistance and rehabilitation of stroke-induced action disorders in the home environment

Research paper thumbnail of Multilateral control for delayed teleoperation

Research paper thumbnail of Grasp mapping between a 3-finger haptic device and a robotic hand

Research paper thumbnail of The Effect of Haptic Feedback in Establishing Basic Social Interaction within Shared Virtual Environments

eventlab-ub.org

Abstract. This paper describes an experiment that studies the effect of basic haptic feedback in ... more Abstract. This paper describes an experiment that studies the effect of basic haptic feedback in creating a sense of basic social interaction within a shared virtual environment (SVE). Although there have been a number of studies investigating the effect of haptic feedback on ...

Research paper thumbnail of Efficient transport protocol for networked Haptics applications

Research paper thumbnail of External Force Estimation for Teleoperation Based on Proprioceptive Sensors

International Journal of Advanced Robotic Systems, 2014

Research paper thumbnail of Analysis of Eye Movements, Kinematics and Dynamic Aspects of Performance during Activities of Daily Living in Stroke Patients

Biosystems & Biorobotics, 2014

Research paper thumbnail of Interfaz háptica para tareas de manipulación

Research paper thumbnail of Springer Series on Touch and Haptic Systems

Research paper thumbnail of Experimental bilateral control by state convergence

This paper presents a discrete design and control method of teleoperation systems. The design met... more This paper presents a discrete design and control method of teleoperation systems. The design method is based on the state space formulation and it allows to obtain the control gains for any teleoperation system where the master and the slave manipulators would be represented by nth-order discrete linear transfer functions. The control method allows that the slave follows the master

Research paper thumbnail of The human role in telerobotics

This chapter introduces the main topics of a telerobotic system. It describes the architecture of... more This chapter introduces the main topics of a telerobotic system. It describes the architecture of such a system from a general point of view and emphasizes the interaction between a human operator and a robot that performs the task in the remote environment. Furthermore it focuses on multi-modal human system interfaces and explains the main features of haptic, auditory, and visual interfaces. Finally important issues for the measurement and evaluation of the attribute telepresence are described.

Research paper thumbnail of An active helideck testbed for floating structures based on a stewart-gough platform

Research paper thumbnail of Modular robot based on 3 rotational DoF modules

Research paper thumbnail of Evaluation of weight perception during unimanual and bimanual manipulation of virtual objects

Design of haptic interfaces for precise bimanual manipulation should take into account how weight... more Design of haptic interfaces for precise bimanual manipulation should take into account how weight simulation is implemented when manipulation switches between one and two hands. The importance of this is apparent in tasks where the user requires to apply vertical forces to penetrate a surface with a tool or splice a fragile object using one and/or two hands. Accurate perception

Research paper thumbnail of A modular robot system design and control motion modes for locomotion and manipulation tasks

Abstract This paper describes a modular robot system design SMART, based on three types of module... more Abstract This paper describes a modular robot system design SMART, based on three types of modules for urban search tasks. The system attempts to give a quick solution to natural and man-made disaster emergencies. It allows for rapid and cost-effective design and ...

Research paper thumbnail of Estimation of normal and tangential manipulation forces by using contact force sensors

This article describes the design and development of a lightweight, adjustable end-effector for d... more This article describes the design and development of a lightweight, adjustable end-effector for different haptic interfaces that estimates normal and tangential forces felt by the user during virtual object manipulation. This thimble was specially designed to provide ...

Research paper thumbnail of Simplified human hand models based on grasping analysis

... e-mail: cobosalvador(g),etsii.upm.es Manuel Ferre is with The Group of Robots & Intellige... more ... e-mail: cobosalvador(g),etsii.upm.es Manuel Ferre is with The Group of Robots & Intelligent Machines of Universidad Politécnica de Madrid, e-mail: m.ferre(g),upm.es Rafael Aracil is with The Group of Robots & Intelligent Machines of ... [4] Y. Endo, S. Kanai, T. Kishinami, N. Miyata ...

Research paper thumbnail of Two-hand virtual object manipulation based on networked architecture

A setup for bimanual virtual object manipulation is described in this paper. Index and thumb fing... more A setup for bimanual virtual object manipulation is described in this paper. Index and thumb fingers are inserted in the corresponding thimbles in order to perform virtual object manipulations. A gimble, with 3-rotational degrees of freedom, connects each thimble to the corresponding serial-parallel mechanical structure with 3 actuated DoF. As a result, each finger has 6 DoF, movements and forces can be reflected in any direction without any torque component. Scenarios for virtual manipulation are based on distributed architecture where each finger device has its own real-time controller. A computer receives the status of each finger and runs a simulation with the virtual object manipulation. The information of the Scenario is updated at a rate of 200 Hz. The information from the haptic controller is processed at 1 kHz; it provides a good realism for object manipulation.

Research paper thumbnail of Optimal mechanical design of modular haptic devices

 Abstract— This paper presents two possible mechanical designs for a modular haptic device. In a... more  Abstract— This paper presents two possible mechanical designs for a modular haptic device. In a modular haptic device, each module allows the interaction with a scenario by using a single finger, and by adding more modules, multi- finger interaction can be achieved. In this paper, two different mechanical designs for such haptic modules are presented and compared (4-bar and

Research paper thumbnail of Bilateral control by state convergence based on transparency for systems with time delay

Research paper thumbnail of CogWatch - Automated assistance and rehabilitation of stroke-induced action disorders in the home environment

Research paper thumbnail of Multilateral control for delayed teleoperation

Research paper thumbnail of Grasp mapping between a 3-finger haptic device and a robotic hand

Research paper thumbnail of The Effect of Haptic Feedback in Establishing Basic Social Interaction within Shared Virtual Environments

eventlab-ub.org

Abstract. This paper describes an experiment that studies the effect of basic haptic feedback in ... more Abstract. This paper describes an experiment that studies the effect of basic haptic feedback in creating a sense of basic social interaction within a shared virtual environment (SVE). Although there have been a number of studies investigating the effect of haptic feedback on ...

Research paper thumbnail of Efficient transport protocol for networked Haptics applications

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