Dynamic fuzzy force field based force-feedback for collision avoidance in robot manipulators

2014 ◽  
Author(s):  
D. Wijayasekara ◽  
M. Manic
Keyword(s):  
Force Field ◽  
Collision Avoidance ◽  
Force Feedback ◽  
Robot Manipulators

Integrated Steering and Braking Control System for Collision Avoidance by Using Virtual Repulsive Force Field Method

2018 ◽  
Author(s):  
Atsushi Yokoyama ◽  
Pongsathorn Raksincharoensak ◽  
Naoto Yoshikawa
Keyword(s):  
Force Field ◽  
Collision Avoidance ◽  
Autonomous Driving ◽  
Field Method ◽  
Repulsive Force ◽  
Driver Assistance Systems ◽  
Mass Model ◽  
Braking Control ◽  
And Control ◽  
Control Activation

Advanced Driver Assistance Systems (ADAS) and autonomous driving systems are being enhanced to deal with various types of collision avoidance use-case scenarios. To handle those complicated scenarios, a unified two-dimensional planar motion control methodology assuming virtual repulsive force from obstacles is introduced, which is physically interpretable and comprehensible. The direction and magnitude of virtual repulsive force are determined considering the orientation of obstacle surface planes and the friction limit between tires and road surface respectively. Applying the concept of virtual repulsive force field, the collision avoidance path can be derived from geometrical relationship and the control activation points can be obtained as algebraic solutions. By using a simple particle mass model, the formulation for path and control activation point is described. The simulation is conducted against not only in the case of a straight roadway but also in the case of a curve roadway. By designing feedforward and feedback controllers based on a two-wheel vehicle dynamics model, the effectiveness of the proposed method is verified and the feasibility of controller implementation for actual vehicle is also investigated.

A parallel collision-avoidance algorithm for robot manipulators

1998 ◽  
Vol 6 (1) ◽  
pp. 68-78 ◽  
Author(s):  
M.A.C. Gill ◽  
A.Y. Zomaya
Keyword(s):  
Collision Avoidance ◽  
Robot Manipulators

Human Factor Issues Associated with Lane Change Collision Avoidance Systems: Effects of Authority, Control, and Ability on Drivers’ Performance and Situation Awareness

2017 ◽  
Vol 61 (1) ◽  
pp. 1634-1638 ◽  
Author(s):  
Husam Muslim ◽  
Makoto Itoh
Keyword(s):  
Human Factors ◽  
Collision Avoidance ◽  
Situation Awareness ◽  
Traffic Safety ◽  
Force Feedback ◽  
Road Traffic ◽  
Warning System ◽  
Lane Change ◽  
Road Traffic Safety ◽  
Automatic Action

In order to improve road traffic safety, increasingly sophisticated and robust collision avoidance systems are being developed. When employed in safety-critical situations, however, the interaction between the human factors and these systems may increase the complexity of the task of driving. Due to these human factors, the ability of the driver to respond to various traffic dangers is considered to be a function of the level of automation, balance of control authority, and the innate ability of the driver. For the purpose of this study, a driving experiment was designed using two types of lane change collision avoidance systems. One was a haptic warning system that provides a steering force feedback to avoid hazardous lane change, and the other, a semi-autonomous system that provides an automatic action to prevent hazardous lane change. While drivers had the final authority over the haptic system, they were unable to override the automatic action. Both systems were examined in three conditions: i) hazard that can be detected only by the system, ii) hazard that can be detected only by the driver, and iii) combined hazards. The different support systems were applied to the different hazards resulting in significant differences in drivers’ reaction time and steering behavior. The drivers’ subjective post-hazard assessments were significantly affected by the type of encountered hazard.

scholarly journals Force feedback delay affects perception of stiffness but not action, and the effect depends on the hand used but not on the handedness

2018 ◽  
Vol 120 (2) ◽  
pp. 781-794 ◽  
Author(s):  
Raz Leib ◽  
Inbar Rubin ◽  
Ilana Nisky
Keyword(s):  
Force Field ◽  
Grip Force ◽  
Force Feedback ◽  
Internal Representation ◽  
Elastic Force ◽  
Perceptual Bias ◽  
Load Force ◽  
Test Case ◽  
Robotic Device ◽  
Left Handed

Interaction with an object often requires the estimation of its mechanical properties. We examined whether the hand that is used to interact with the object and their handedness affected people’s estimation of these properties using stiffness estimation as a test case. We recorded participants’ responses on a stiffness discrimination of a virtual elastic force field and the grip force applied on the robotic device during the interaction. In half of the trials, the robotic device delayed the participants’ force feedback. Consistent with previous studies, delayed force feedback biased the perceived stiffness of the force field. Interestingly, in both left-handed and right-handed participants, for the delayed force field, there was even less perceived stiffness when participants used their left hand than their right hand. This result supports the idea that haptic processing is affected by laterality in the brain, not by handedness. Consistent with previous studies, participants adjusted their applied grip force according to the correct size and timing of the load force regardless of the hand that was used, the handedness, or the delay. This suggests that in all of these conditions, participants were able to form an accurate internal representation of the anticipated trajectory of the load force (size and timing) and that this representation was used for accurate control of grip force independently of the perceptual bias. Thus these results provide additional evidence for the dissociation between action and perception in the processing of delayed information. NEW & NOTEWORTHY Introducing delay to force feedback during interaction with an elastic force field biases the perceived stiffness of the force field. We show that this bias depends on the hand that was used for probing but not on handedness. At the same time, both left-handed and right-handed participants adjusted their applied grip force while using either their left or right hands in anticipation of the correct magnitude and timing despite the delay in load force.

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