Papers by Kenneth Salisbury
Journal of Fluids Engineering
This project develops and demonstrates key technologies for advanced vir-• tual interaction for s... more This project develops and demonstrates key technologies for advanced vir-• tual interaction for surgical simulation and teleoperation systems used to perform remote surgical procedures. Our focus at MIT during the past year has been to develop the first level of interfaces and algorithms needed to accomplish the broad goals of performing virtual and remote surgical procedures. During the past year we have implemented a computational environment including control software, graphics softwiare and computer hardware, to support the development of haptic rendering algorithms. We have demonstrated tweezer interaction with flat compliant surfaces to simulate grasping of tissue and developed a real-time, reduced order, finite-element simulation of compliant materials. The resulting system-Las been used successfully to achieve the year-one goal of demonstrating multi-finge, manipulation of virtual compliant mate-ial. In addition, we have performed preliminary investigation and design cf a remote palpation and maripulation device which will be used in the coming years to perform real surgical procedures.
Controller for remote manipulators gives user "feel" for forces required to lift, slide... more Controller for remote manipulators gives user "feel" for forces required to lift, slide, turn, and otherwise handle objects. Because operator experiences sensations similar to those he would perceive if he handled objects directly, he needs much less skill and training for manipulator than for one with force feedback. It was developed to handle hazardous materials, such as radioactive substances, explosives, or corrosive chemicals. Other possible uses include tracking moving objects, vehicle control, and human interaction with computers (for example, via three dimensional display of computer model).
Proceedings. 1985 IEEE International Conference on Robotics and Automation
Redundant manipulators are expected to increase robot performance by reducing the problem of work... more Redundant manipulators are expected to increase robot performance by reducing the problem of workspace singularities, allowing for obstacle avoidance and providing the opportunity for gross motion optimization. We show that the addition of redundant joints can also increase the dynamic response for small motions of the manipulator at its endpoint. We begin by considering a two link mechanism, which is
Proceedings, 1989 International Conference on Robotics and Automation
In this paper we will discuss one of the possible applications of Intrinsic Tactile sensing (ITS)... more In this paper we will discuss one of the possible applications of Intrinsic Tactile sensing (ITS) to grasp and manipulation conttol. A brief description of ITS , i.e. contact sensing based on forcenorque measurements at the hands fingertips, is provided in the introduction. A new method for using sensory feedback in the control of grasp forces to augment grasp robustness against slippage. is discussed with respect to a simple grasp type; simulation and experimental data are provided. The possible generalization of this sensor-driven approach to the control of optimal grasp force in complex grasp configurations is addressed, even though much work has still to be done to integrate the results of classical work on grasp synthesis with real-time information on contact offered by ITS.
2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008
Large workspace haptic devices have unique requirements, requiring increased power capabilities a... more Large workspace haptic devices have unique requirements, requiring increased power capabilities along with increased safety considerations. While there are numerous haptic devices available, large workspace systems are hampered by the limitations of current actuation technology. To address this, the Distributed Macro-Mini (DM 2) actuation method has been applied to the design of a large workspace haptic device. In this paper, the DM 2 method and present experimental results which demonstrate its effectiveness. Finally, the control design is presented along with a discussion of the unique challenges associated with its robustness.
One of the fundamental interests in our research group has been the design of high performance me... more One of the fundamental interests in our research group has been the design of high performance mechanisms and sensors needed to advance the state-of- the-art in robotics. Of central concern has been the development of systems which utilize force information and force control to permit contact- intensive interaction with objects in an environment. It was inspiration from these experiences that motivated our current work in Phantom-style haptics, and the lessons learned from the robotic activities that have guided our haptic interface design efforts.
Transactions of the American Society of Mechanical Engineers, May 1, 1948
Discussion G. M. DUSINBERHE. 3 Combustion efficiency is a natural concept, and the author has don... more Discussion G. M. DUSINBERHE. 3 Combustion efficiency is a natural concept, and the author has done well in directing attention to alternative viewpoints as to its precise definition. But after that, Voltaire's saying comes to mind: "Si Dieu n'existait pas, il faudrait I'inventer." If an "efficiency" does not exist, is it really necessary to invent one' In the steam cycle, pressure drop in the superheater is quite analogous to combustion-chamber pressure drop. But we have not found it helpful to talk about "superheater mechanical efficiency." By far the greatest thermodynamic loss in the combustion chamber is that due to the mixing of excess air. This dilution is necessary for turbine life. However, the writer would not suggest setting up a "turbine metallurgical efficiency." In fact, we might well add to the author's criteria the following: "An efficiency, to be ascribed to a particular system, must be calculable from measurements taken on that system, plus, at most, the ambient temperature and pressure." The conclusion is that certain performance factors can be treated, with more logic, simply as losses rather than to force them, Procrustean fashion, into an arbitrary efficiency. Aside from the mixing loss noted, what are the available energy losses chargeable to the combustion-chamber pressure drop? Referring to Fig. 4 of this discussion, let A be the actual end point /1TMOJPHERIC TenpenATt/ne ' If it is admissible to use a standard temperature, constant-ft lines can be readily plotted on an h-s chart as follows: Through the point of standard atmospheric pressure and temperature, rule a straight line tangent to the constant-pressure line at this point. Rule other constant-li lines parallel to this. Head b intercepts on the vertical enthalpy scale. We of course are free to introduce any arbitrary additive constant in the values of b itself.
Journal of Fluids Engineering
The writer was interested to compare the results obtained by Messrs. Yellott and Lype with those ... more The writer was interested to compare the results obtained by Messrs. Yellott and Lype with those obtained by methods which he presented in a discussion of a paper given before The Society of Naval Architects and Marine Engineers. 3 When corrected for the slightly different viewpoint taken by the authors, the agreement between the two results is excellent. The authors have found, for certain conditions, a decrease in thermal efficiency of 9.5 per cent, which corresponds to an increase in fuel rate of 10.50 per cent, while the writer's
Journal of Fluids Engineering
Journal of Fluids Engineering
Thermodynamic losses in the heater system of a steam-power-plant cycle are analyzed. All heater s... more Thermodynamic losses in the heater system of a steam-power-plant cycle are analyzed. All heater systems are rated with respect to an “ideal” heater system. Simple algebraic formulations permit determination of arrangement loss, distribution loss, and loss due to terminal difference and pressure drop in any heater cycle. Miscellaneous corrections to cycle heat rate are described and two typical corrections are analyzed. The paper constitutes a new fundamental approach to analysis of feedwater heating cycles, based largely upon a simplifying assumption, valid for the purpose. It may be regarded as a sequel to a previous paper covering major parameters of steam-plant regenerative cycles.
Journal of Fluids Engineering
Journal of Fluids Engineering, 1958
A method is presented by which the mechanism of the reheat cycle is clearly explained, facilitati... more A method is presented by which the mechanism of the reheat cycle is clearly explained, facilitating evaluation of changes in the system. The method permits methods for analysis of the simple regenerative cycle to be applied by translation of the effect of a change in the lowpressure portion into a net effect on the over-all reheat cycle. The method is developed on a new viewpoint in which the reheat cycle is considered to consist of a lowpressure, high- temperature, regenerative-cycle system upon which is superimposed a high- pressure, hightemperature turbine, a reheater, and additional feedwater heaters. (T.R. H.)
Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 1994
Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 1994
This paper describes the PHANTOM haptic interface-a device which measures a user's finger tip... more This paper describes the PHANTOM haptic interface-a device which measures a user's finger tip position and exerts a precisely controlled force vector on the finger tip. The device has enabled users to interact with and feel a wide variety of virtual objects and will be used for control of remote manipulators. This paper discusses the design rationale, novel kinematics and
SAE Technical Paper Series, 1949
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Papers by Kenneth Salisbury