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DESIGN AND EVALUATION OF A HAPTIC COMPUTER
ASSISTANT FOR TELE-MANIPULATION TASKS
ABSTRACT
This paper introduces a computer-assisted tele-operationsystem, 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 contextspecificassistance. The action recognition unit can evaluate
hap ticdata, 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 tasksspecificassistance functions are designed. The overall computerassistedtele-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-operationsystem
is compared with an unassisted system by means of auser study with 15
participants. Overall action recognition ratesof about 65% are achieved. Multivariate paired
comparisons showthat the computer-assisted tele-operation system significantly reducesthe
human effort and damage possibility compared with atele-operation system without
assistance.
EXISTING SYSTEM
Multimodaltele-operation systems allow a human operatorto perform complex
manipulations in a remote environment by overcoming barriers like distance and scaling. Ina
multimodal tele-operation system, a human operator interactswith a human–system interface
to command a remotely locatedtele-operator that in his/her place interacts with the remote
environment; Visual, auditory, and haptic information that are captured at the remote site are

2. 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 veryHifi Project.
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
dataand can deal with human behavior changes caused by the active haptic assistance. The
performance of the action recognition unit and implemented assistances are evaluated.
Additionally, in order to show the benefits of the overall developedcomputerassistedtele-operation
system, its performance is compared withunassisted tele-operation.
BLOCK DIAGRAM
ZIGBEE
ADXL335 Angle
Sensor
ZIGBEE
MICROCONTROLLER
KEYPAD

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