The PHANSIM Toolkit is an academic/noncommercial Simulink toolkit for motion control and teleoperation of the PHANToM haptic devices. This toolkit facilitates using the PHANToM haptic devices in Simulink. This movie shows a haptic teleoperation experiments under a significant amount of time delay (varying delay with an average of 1.8 sec one-way). See our lab website for more details on this project: http://www.ece.ualberta.ca/~tbs (go to Projects or Publications).
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