The Effect of Mechanical Coupling on the Perception of Haptic Feedback

2020 ◽  
Author(s):  
Alicia Molina ◽  
Frank L. Hammond
Keyword(s):  
Internal Pressure ◽  
Haptic Feedback ◽  
Anatomical Location ◽  
Pneumatic Actuators ◽  
Mechanical Coupling ◽  
Feedback Display ◽  
Air Volume ◽  
And Control

Abstract A wearable sensory transfer armband was developed to display haptic feedback on the forearm. This device provides focalized mechanotactile feedback in the form of pressure with balloon-like pneumatic actuators. The balloons inflate to exert pressure against the skin just below them. In order to understand and control how the feedback device interacts with the user, its performance was characterized by measuring the pneumatics’ internal pressure, the force applied against the arm surface by the balloon, and the air volume injected into the balloon. The mechanical coupling, or fit, of the feedback display against the arm was also characterized and varied as the previous parameters were observed, any changes and how these pertain to the perception of haptic feedback were analyzed. The study revealed that mechanical coupling significantly affects the forces felt against the forearm. The study also showed that the perception of haptic feedback can vary depending on the anatomical location on the forearm where feedback is applied.

scholarly journals Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback

2021 ◽  
Vol 59 ◽  
pp. 283-298 ◽  
Author(s):  
Claudia González ◽  
J. Ernesto Solanes ◽  
Adolfo Muñoz ◽  
Luis Gracia ◽  
Vicent Girbés-Juan ◽  
...  
Keyword(s):  
Control System ◽  
Haptic Feedback ◽  
Industrial Robots ◽  
Augmented Virtuality ◽  
And Control

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
Author(s):  
Jae H. Chung ◽  
Changhoon Kim
Keyword(s):  
Comparative Study ◽  
Decentralized Control ◽  
Control Method ◽  
Robotic Manipulator ◽  
Coordination Control ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
Simulation Results ◽  
And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

scholarly journals Heterogenic Autotuner for Electro-Pneumatic Single-Action Actuators

Energies ◽  
2020 ◽  
Vol 13 (18) ◽  
pp. 4604
Author(s):  
Michał Bartyś
Keyword(s):  
Pid Controller ◽  
The Novel ◽  
Main Concept ◽  
Heuristic Knowledge ◽  
Pneumatic Actuators ◽  
Single Action ◽  
Long Time ◽  
Qualitative Knowledge ◽  
Tuning Process ◽  
And Control

The main concept is to design the novel autotuner in a way that it will introduce benefits that arise from the effect of the fusion of the quantitative and qualitative knowledge gained from identification experiments, long-time expertise, and theoretical findings. The novelty of this approach is in the manner in which the expert heuristic knowledge is used for the development of an easy-to-use and time-efficient tuning process. In the proposed approach, the positioner simply learns, mimics, and follows up the tuning process that is performed by an experienced human operator. The major strength of this approach is that all parameters of positioner PID controller can be estimated by only identifying one single parameter that is the effective time constant of the pneumatic actuator. The elaborated autotuning algorithm is experimentally examined with different commercially available pneumatic actuators and control valves. The obtained results demonstrate that the proposed autotuning approach exhibits good performance, usability, and robustness. This should be considered as particularly relevant in the processes of installing, commissioning, and servicing single-action final control elements.

Aspects Regarding Pneumatic System Simulated Control

2010 ◽  
Vol 166-167 ◽  
pp. 291-296 ◽  
Author(s):  
Rares Ciprian Mîndru ◽  
Vistrian Maties ◽  
Ciprian Lapusan ◽  
Ioan Adrian Cosma
Keyword(s):  
Differential Equations ◽  
High Speed ◽  
Integrated Design ◽  
Control Algorithms ◽  
Pneumatic Actuators ◽  
Positioning Systems ◽  
Electromagnetic Valve ◽  
Modeling Simulation ◽  
Mathematical Analyses ◽  
And Control

The paper proposes a large approach to pneumatic systems starting from the mathematical laws, written in the form of differential equations, which govern the operation of pneumatic systems and continuing with the simulation model. The concept of integrated design includes all approaches, needed for an optimal and deep system understanding, such as modeling, simulation and control. Pneumatic actuators have a nonlinear functionality because of air compressibility, the existing frictions and the valves nonlinearities. Because of these, they are used in high speed applications and simple positioning systems. Thus, the mathematical analyses of pneumatic systems have received a special attention. The differential equations were implemented in Matlab Simulink, and the model input represents the voltage on the electromagnetic valve, and the output seen on the "scope" represents the movement of the piston pneumatic axis. Some control algorithms are implemented and applied to the model and seen the basic differences.

Haptics: The Present and Future of Artificial Touch Sensation

2018 ◽  
Vol 1 (1) ◽  
pp. 385-409 ◽  
Author(s):  
Heather Culbertson ◽  
Samuel B. Schorr ◽  
Allison M. Okamura
Keyword(s):  
Haptic Feedback ◽  
Haptic Devices ◽  
Present Information ◽  
Touch Sensation ◽  
Haptic Technology ◽  
Feedback Modalities ◽  
Sense Of Touch ◽  
And Control ◽  
Virtual Interactions ◽  
Human Sense

This article reviews the technology behind creating artificial touch sensations and the relevant aspects of human touch. We focus on the design and control of haptic devices and discuss the best practices for generating distinct and effective touch sensations. Artificial haptic sensations can present information to users, help them complete a task, augment or replace the other senses, and add immersiveness and realism to virtual interactions. We examine these applications in the context of different haptic feedback modalities and the forms that haptic devices can take. We discuss the prior work, limitations, and design considerations of each feedback modality and individual haptic technology. We also address the need to consider the neuroscience and perception behind the human sense of touch in the design and control of haptic devices.

Modeling of Biodynamic Feedthrough in Backhoe Operation

2009 ◽  
Author(s):  
Heather C. Humphreys ◽  
Wayne J. Book ◽  
James D. Huggins
Keyword(s):  
Control System ◽  
User Interface ◽  
Haptic Feedback ◽  
Current System ◽  
Coordinated Control ◽  
Input Device ◽  
Control Performance ◽  
Meaningful Information ◽  
Potential Methods ◽  
And Control

An advanced backhoe user interface has been developed which uses coordinated control with haptic feedback. Results indicate that the coordinated control provides more intuitive operation that is easy to learn, and the haptic feedback also relays meaningful information back to the user in the form of force signals from digging forces and system limitations. However, results show that the current system has significant problems with biodynamic feedthrough, where the motion of the controlled device excites motion of the operator, resulting in undesirable forces applied to the input device and control performance degradation. This unwanted input is difficult to decouple from the intentional operator input in experiments. This research presents an investigation on the effects of biodynamic feedthrough on this particular backhoe control system, using system identification to empirically define models to represent each component. These models are used for a preliminary simulation study on potential methods for biodynamic feedthrough compensation.

Energetically Passive Bilateral Teleoperation of a Pneumatic Crawling Robot

2019 ◽  
Author(s):  
Venkat Durbha ◽  
Perry Y. Li
Keyword(s):  
Haptic Feedback ◽  
Reaction Force ◽  
Human Operator ◽  
Haptic Interfaces ◽  
Bilateral Teleoperation ◽  
Physical Effort ◽  
Pneumatic Actuators ◽  
Foot Placement ◽  
Mechanical Tool ◽  
Control Methodology

Abstract This paper presents the control methodology and experimental results for the bilateral haptic tele-operation of a pneumatic actuated crawling robot. The two front legs of a robot are teleoperated via a pair of PHANToM haptic interfaces. The system gives the human operator the impression that he/she is physically moving and positioning the robot legs. As the legs hit the ground, the operator would also feel the reaction force via the haptic feedback provided by the PHANToMs. To reduce the physical effort by the operator, kinematic and power scaling factors are applied. For stable tele-operation, the closed loop system is controlled to behave like a common energetically passive mechanical tool interacting with the human operator (on the PHANToM’s end) and the physical environment (on the Crawler’s end). The control design strategy treats the pneumatic actuators as a two-port nonlinear spring. While the mechanical port of the actuator acts on the mechanical structure of the crawler’s leg, the fluid port of the actuator is controlled to mimic the interaction between the pneumatic spring and the PHANToM, and to achieve co-ordination. The control methodology has been tested experimentally. While performing crawling motion, the RMS error of the robot foot placement error was 7mm, well within the crawler’s foot diameter of 25.4mm.

Design and Control of a Pneumatically Actuated Lower-Extremity Orthosis

2012 ◽  
Vol 6 (4) ◽  
Author(s):  
Sai-Kit Wu ◽  
Tad Driver ◽  
Xiangrong Shen
Keyword(s):  
Lower Extremity ◽  
High Power Density ◽  
Mechanical Device ◽  
Natural Interaction ◽  
Joint Power ◽  
Power Sources ◽  
Pneumatic Actuators ◽  
Finite State ◽  
External Power ◽  
And Control

Lower-extremity orthosis is a type of wearable mechanical device that serves a wide variety of important biomedical purposes, such as gait assistance and rehabilitative training. Due primarily to the constraints associated with actuation technology, the majority of current lower-extremity orthoses are either passive or tethered to external power sources, limiting the functionality of such devices. In this paper, the authors present the research results towards a fully mobile (i.e., untethered) powered lower-limb orthosis, leveraging the high power density of pneumatic actuators for the joint power generation. The design of the orthosis is presented, with the objectives of providing full locomotive assistance in multiple common locomotive modes and generating a minimum level of restriction to the wearer's daily activities. For the control of the orthosis, a finite-state impedance-based controller is developed, which simulates an artificial impedance in order to enable the natural interaction with the wearer. Preliminary testing on a healthy subject demonstrated that the orthosis was able to provide a natural gait and a comfortable user experience in the treadmill walking experiments.

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