Telepresence System

Advanced Telepresence Solution for Academic Research

Quanser’s telepresence solution consists of a Quanser QArm manipulator along with a Quanser HD² High Definition Haptic Device. The open architecture design of the solution allows researchers to quickly develop and deploy emerging applications in telerobotics, telepresence, machine learning, assistive robotics, collaborative robotics, and more using MATLAB/Simulink. Quanser’s QArm is a 4 DOF serial robotic manipulator with a tendon-based two-stage gripper and an RGBD camera, designed for modern engineering education and academic research applications. The HD² High-Definition Haptic Device is a high-fidelity haptic interface for advanced research in haptics and robotics.

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The robotic manipulator of the solution, the QArm, consists of 4 joints in a roll-pitch-pitch-roll configuration, allowing for a large reachable workspace. The two-stage 5-contact gripper allows you to interact with objects of various shapes while gauging grip strength via current sense. The gripper can be augmented and customized with additional sensors and actuators via the interfacing board. The position of the RGBD camera enables you to perform inspection and visual servoing tasks. As a dexterous haptic device, HD² enables researchers to interact with remote environments using programmable force feedback. Compared to other commercially available haptic devices, HD² has a large workspace and very low intervening dynamics. This parallel mechanism is highly back-drivable with negligible friction. The heavy-duty capstan drive and high-performance motors reduce the perceived inertia while maintaining rigidity of the device structure.

QArm Manipulator

Suite of sensors and control modes
Quick development and validation of algorithms and control approaches
Compatible with a range of software environments and interface options
Expandable I/O for unlimited applications

HD2 Haptic Device

Highly back-drivable joints and very low intervening dynamics
Highly rigid structure with low friction and inertia
Capstan drive mechanism
Counterweights designed to eliminate the effects of gravity
Auxiliary analog and digital inputs
Reconfigurable handle position
High-resolution optical encoders
Built-in linear current amplifiers
Easy connectivity to the data acquisition control board through SCSI cable
Foot push pedal for auxiliary digital input

QArm	Manipulator weight	8.25 kg
	Payload	250-750 g
	Reach	750 mm
	Repeatability	± 0.05 mm
	Camera	Intel® RealSense™ D415
	Interface	USB/SPI (QFLEX 2)
	Interface control modes	Position mode, Current mode
	External control rate	500 Hz
	Expandable I/O	PWM/Analog/I²C/SPO/UART
	Minimum and maximum joint range	Base: ±170° Shoulder: ± 85° Elbow: -95°/+75° Wrist: ± 167.5°
	Maximum joint speed	± 90°/s

HD²	Workspace	800 mm (X), 250 mm (Y), 350 mm (Z) 180 degrees (roll), 180 degrees (pitch), continuous (yaw)
	Tip inertia	300 g (X), 300 g (Y), 300 g (Z) 2.29 g.m ²(roll), 2.29 g.m² (pitch), 0.79 g.m² (yaw)
	Back drive frictions	0.353 N (X), 0.353 N (Y), 0.353 N (Z) 61.775 N/mm (roll), 61.775 N/mm (pitch), 0.5 N/mm (yaw)
	Maximum force/torque at 2 amps	19.71 N (X), 19.71 N (Y), 13.94 N (Z) 1.72 N.m (roll), 1.72 N,m (pitch), 1.72 N.m (yaw)
	Continuous force/torque at 1.1 amps	10.84 N (X), 10.84 N (Y), 7.67 N (Z) 0.948 N.m (roll), 0.948 N.m (pitch), 0.948 N.m (yaw)
	Position resolution	0.051 mm (X), 0.051 mm (Y), 0.051 mm (Z) 0.033 degrees (roll), 0.033 degrees (pitch), 0.088 degrees (yaw)
	Stiffness at 10 kHz	3000 N/m (X), 3000 N/m (Y), 3000 N/m (Z) 3.4 N.m/rad (roll), 3.4 N.m/rad (pitch), 0.05 N.m/rad (yaw) (torque at 0.6 A)
	Dimensions (H x W x L)	0.53 m x 0.3 m x 0.5 m
	Mass, including the amplifiers	22 kg