scholarly journals Cable-Suspended Haptic Interface

1998 ◽  
Vol 3 (3) ◽  
pp. 13-20 ◽  
Author(s):  
Robert L. Williams II
Keyword(s):  
Virtual Reality ◽  
Degree Of Freedom ◽  
Haptic Interface ◽  
Human Operator ◽  
Haptic Interfaces ◽  
Input Output ◽  
Output Device ◽  
Present Concept ◽  
Six Degree Of Freedom

A cable-suspended haptic interface (CSHI) concept is presented. The goal is to create an input/output device to provide six-degree-of-freedom (dof) wrench (force and moment) feedback to a human operator in virtual reality or remote applications. Compared to commercially-available haptic interfaces for virtual reality applications, the present concept is driving for lighter, safer, crisper, more dexterous, and more economical operation. The CSHI concept is presented, along with the required mathematical transformations for use of the device.

Design and evaluation of a high-performance haptic interface

Robotica ◽  
1996 ◽  
Vol 14 (3) ◽  
pp. 321-327 ◽  
Author(s):  
R.E. Ellis ◽  
O.M. Ismaeil ◽  
M.G. Lipsett
Keyword(s):  
High Performance ◽  
Dynamic Range ◽  
Evaluation Criteria ◽  
Haptic Interface ◽  
Human Operator ◽  
Haptic Interfaces ◽  
Environment Design ◽  
Mechanical Constraints ◽  
Computer Controlled ◽  
The Many

SUMMARYA haptic interface is a computer-controlled mechanism designed to detect motion of a human operator without impeding that motion, and to feed back forces from a teleoperated robot or virtual environment. Design of such a device is not trivial, because of the many conflicting constraints the designer must face.As part of our research into haptics, we have developed a prototype planar mechanism. It has low apparent mass and damping, high structural stiffness, high force bandwidth, high force dynamic range, and an absence of mechanical singularities within its workspace. We present an analysis of the human-operator and mechanical constraints that apply to any such device, and propose methods for the evaluation of haptic interfaces. Our evaluation criteria are derived from the original task analysis, and are a first step towards a replicable methodology for comparing the performance of different devices.

Verification of Haptic Illusions Using a Haptic Interface and Consideration on its Mechanism

2006 ◽  
Vol 18 (4) ◽  
pp. 476-488 ◽  
Author(s):  
Masayuki Hara ◽  
◽  
Takahiro Higuchi ◽  
Ayaka Ohtake ◽  
Jian Huang ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Human Perception ◽  
Tactile Display ◽  
Haptic Interface ◽  
Display Device ◽  
Haptic Interfaces ◽  
Realistic Force ◽  
Weight Illusion ◽  
New Hypothesis ◽  
Unique Mechanism

In these days, a haptic interface, which is a force/tactile display device, is attracting great interest in virtual reality. With regard to this technology, researchers have reported ways to construct virtual environment and development of new devices with a unique mechanism but rarely explored the relationships between human perception and virtual dynamics. This paper suggests that it is necessary to clarify the relationships to provide more realistic force/tactile sensation for users. The main purpose of this study is to evaluate the force sensations displayed by haptic interfaces. This study focused on two haptic illusion phenomena, which are a haptic horizontal-vertical illusion and a size-weight illusion. Results of experiments using the haptic interface verified that such haptic illusions are reproducible in virtual reality. This implies that perceptual experiments can be realized using haptic interfaces, which may have potential to discover new haptic illusions. Further, this paper attempts to study the size-weight illusion by using functions of the haptic interface such as position and force sensing functions and propose a new hypothesis on the size-weight illusion. These results demonstrate that the effectiveness of haptic interfaces for perceptual experiments.

A High-Bandwidth Force-Controlled Haptic Interface

2000 ◽  
Author(s):  
Christopher D. Lee ◽  
Dale A. Lawrence ◽  
Lucy Y. Pao
Keyword(s):  
Closed Loop ◽  
Large Range ◽  
Degree Of Freedom ◽  
Haptic Interface ◽  
Haptic Interfaces ◽  
Control Loop ◽  
High Bandwidth ◽  
Materials Used ◽  
Actuator Control ◽  
And Control

Abstract The design and control of a 5 degree-of-freedom (DOF) haptic interface that provides accurate rendering of forces as well as a large range of motion is presented. We review a number of design approaches that have been considered in other haptic interfaces and the reasons for choosing a parallel mechanism for our design. The choice and motivation for the actuators, sensors, and materials used are also discussed. High bandwidth transmission of forces is achieved through a force control loop in each degree of freedom. Details of the single actuator control design process and the robustness of the controllers are also overviewed. The resulting interface is able to provide a workspace of about 40 cm in translation in 3 DOF and about ±60 degrees in 2 DOF of angular motion, and the force controllers have closed-loop bandwidths of about 175 Hz.

Six Degree-of-Freedom Haptic System as a Desktop Virtual Prototyping Interface

1999 ◽  
Author(s):  
Abbe Cohen ◽  
Elaine Chen
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Degrees Of Freedom ◽  
Virtual Prototyping ◽  
Degree Of Freedom ◽  
Haptic Interface ◽  
Complex Object ◽  
Six Degrees Of Freedom ◽  
Torque Response ◽  
Six Degree Of Freedom

Abstract This paper describes a new six degree of freedom haptic interface with a large translational and rotational range of motion. The 6DOF haptic interface is demonstrated with an example industrial-scale virtual prototyping simulation which shows a moderately complex object Interacting with an arbitrarily complex virtual environment, using a full-service collision detection and response package to calculate the force and torque response in all six degrees of freedom.

Two-degree-of-freedom Controller Design for Uncertain Processes Using Input/output Linearization Control Technique

2011 ◽  
Vol 11 (1) ◽  
pp. 16 ◽  
Author(s):  
Pisit Sukkarnkha ◽  
Chanin Panjapornpon
Keyword(s):  
Disturbance Rejection ◽  
Control Structure ◽  
Control Method ◽  
Random Noise ◽  
Degree Of Freedom ◽  
Control Technique ◽  
Input Output ◽  
Tracking Controller ◽  
Two Degree Of Freedom ◽  
Input Output Linearization

In this work, a new control method for uncertain processes is developed based on two-degree-of-freedom control structure. The setpoint tracking controller designed by input/output linearization technique is used to regulate the disturbance-free output and the disturbance rejection controller designed is designed by high-gain technique. The advantage of two-degree-of-freedom control structure is that setpoint tracking and load disturbance rejection controllers can be designed separately. Open-loop observer is applied to provide disturbance-free response for setpoint tracking controller. The process/disturbance-free model mismatches are fed to the disturbance rejection controller for reducing effect of disturbance. To evaluate the control performance, the proposed control method is applied through the example of a continuous stirred tank reactor with unmeasured input disturbances and random noise kinetic parametric uncertainties. The simulation results show that both types of disturbances can be effectively compensated by the proposed control method.

Iterative feedback control based on frequency response model for a six-degree-of-freedom micro-vibration platform

2021 ◽  
pp. 107754632199731
Author(s):  
He Zhu ◽  
Shuai He ◽  
Zhenbang Xu ◽  
XiaoMing Wang ◽  
Chao Qin ◽  
...  
Keyword(s):  
Feedback Control ◽  
Frequency Response ◽  
Control Strategy ◽  
Degree Of Freedom ◽  
Small Displacement ◽  
Response Model ◽  
Parameter Uncertainties ◽  
Micro Vibration ◽  
Six Degree Of Freedom ◽  
Iterative Feedback

In this article, a six-degree-of-freedom (6-DOF) micro-vibration platform (6-MVP) based on the Gough–Stewart configuration is designed to reproduce the 6-DOF micro-vibration that occurs at the installation surfaces of sensitive space-based instruments such as large space optical loads and laser communications equipment. The platform’s dynamic model is simplified because of the small displacement characteristics of micro-vibrations. By considering the multifrequency line spectrum characteristics of micro-vibrations and the parameter uncertainties, an iterative feedback control strategy based on a frequency response model is designed, and the effectiveness of the proposed control strategy is verified by performing integrated simulations. Finally, micro-vibration experiments are performed with a 10 kg load on the platform. The results of these micro-vibration experiments show that after several iterations, the amplitude control errors are less than 3% and the phase control errors are less than 1°. The control strategy presented in this article offers the advantages of a simple algorithm and high precision and it can also be used to control other similar micro-vibration platforms.

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