1. DESIGN AND EVALUATION OF A HAPTIC COMPUTER
ASSISTANT FOR TELE-MANIPULATION TASKS
ABSTRACT
This paper introduces a computer-assisted tele-operation system, where the control
over the tele-operator is shared between a human operator and computer assistance in order to
improve the overall task performance. Two units, an-action recognition and an assistance unit
are introduced to provide context specific assistance. The action recognition unit can evaluate
hap tic data, handle high sampling rates, and deal with human behavior changes caused by
the active hap tic assistance. Repairing of a broken hard drive is selected as scenario and
three different tasks specific assistance functions are designed. The overall computer assisted
tele-operation system is evaluated in two steps: first, the performance of the action
recognition unit is evaluated and then, the performance of the integrated computer-assisted
tele-operation system is compared with an unassisted system by means of a user study with
15 participants. Overall action recognition rates of about 65% are achieved. Multivariate
paired comparisons show that the computer-assisted tele-operation system significantly
reduces the human effort and damage possibility compared with a tele-operation system
without assistance.
EXISTING SYSTEM
MULTIMODAL tele-operation systems allow a human operator to perform complex
manipulations in a remote environment by overcoming barriers like distance and scaling. Ina
multimodal tele-operation system, a human operator interacts with a human–system interface
to command a remotely located tele-operator that in his/her place interacts with the remote
environment; Visual, auditory, and hap tic information that are captured at the remote site are
fed back to the human operator to increase his/her feeling of tele-presence. Typical
application fields range from maintenance tasks in space or under water to minimally
invasive surgery.
PROPOSED SYSTEM
In this paper, we are going to implement using ZIGBEE based Robotic ARM control.
So, our implement is Single Clove based Robotic Control very Hifi Project.

2. So, by using an accelerometer sensor and some keys, the Robotic ARM will be
controlled wirelessly by using a ZIGBEE. The ZIGBEE which is placed in the clove will
transmit the information according to the actions performed by the accelerometer sensor and
Keys to the ZIGBEE receiver which is connected with the Microcontroller.
In contrast with state-of-the-art implementations our action recognition unit is not
limited to actions performed in the free space, but also allows contact with the remote
environment. The unit can handle high sampling rates as encountered when analyzing hap tic
data and can deal with human behavior changes caused by the active hap tic assistance. The
performance of the action recognition unit and implemented assistances are evaluated.
Additionally, in order to show the benefits of the overall developed computer assisted teleoperation system, its performance is compared with unassisted tele-operation.
BLOCK DIAGRAM
ZIGBEE
MICROCONTROLLER
ZIGBEE
ADXL335 Angle
Sensor
KEYPAD

3. HARDWARE REQURIMENT
Microcontroller (Atmega)
MOTOR DRIVER (L293D)
ZIGBEE
ADXL335 Angle Sensor
Glove
Keypad
SOFTWARE REQURIMENT
AVR-studio
Sinaprog
FLASH MAGIC
X-CTU