scholarly journals Improved Haptic Transparency of Bilateral Control Using Torque-Measured Magnetic Coupling

Machines ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 172
Author(s):  
Trieu-Khang Tu ◽  
I-Haur Tsai ◽  
Jia-Yush Yen ◽  
Tsu-Chin Tsao ◽  
Mi-Ching Tsai
Keyword(s):  
Feedback Control ◽  
Control Systems ◽  
Haptic Feedback ◽  
Driving Simulator ◽  
Magnetic Coupling ◽  
Force Sensor ◽  
Steering Wheel ◽  
Bilateral Control ◽  
Mechanical Spring ◽  
Reaction Torque

The integrity and transparency of a haptic feedback in a bilateral control is crucial for precise and accurate operators’ sensation during human–machine interactions. Conventional master and slave bilateral control systems are often subject to unknown or unwanted disturbances and dynamics in the actuators and powertrain linkages that hamper the haptic feedback integrity and transparency. Force sensor torque sensing and feedback control are required to mitigate these effects. In contrast to the conventional approach of introducing torque sensing using a mechanical spring, this paper introduces a magnetic coupling as a torque sensor to detect reaction torque between the human input and the master actuator. Disturbance observer-based torque feedback control is designed to suppress the disturbances and tailor the haptic transparency dynamics. Experimental results on a virtual reality interaction system, which involves the steering wheel bilateral control in a cyber-physical driving simulator system, demonstrate the feasibility and effectiveness of the proposed method with improved haptic integrity and transparency.

scholarly journals Promoting eco-driving behavior through multisensory stimulation: a preliminary study on the use of visual and haptic feedback in a virtual reality driving simulator

2021 ◽  
Author(s):  
Andrea Pietra ◽  
Marina Vazquez Rull ◽  
Roberta Etzi ◽  
Alberto Gallace ◽  
Giulia Wally Scurati ◽  
...  
Keyword(s):  
Virtual Reality ◽  
High Speed ◽  
Haptic Feedback ◽  
Driving Simulator ◽  
Visual Stimulation ◽  
Physiological State ◽  
Driving Behavior ◽  
Steering Wheel ◽  
Mean Power ◽  
Accelerator Pedal

AbstractThis paper describes the design and preliminary test of a virtual reality driving simulator capable of conveying haptic and visual messages to promote eco-sustainable driving behavior. The driving simulator was implemented through the Unity game engine; a large street environment, including high-speed and urban sections, was created to examine different driving behaviors. The hardware setup included a gaming driving seat, equipped with a steering wheel and pedals; the virtual scenarios were displayed through an Oculus Rift headset to guarantee an immersive experience. Haptic stimulation (i.e., vibrations) was delivered to the driver through the accelerator pedal, while visual stimuli (i.e., icons and colors) were shown on a virtual head-up display. The sensory feedbacks were presented both alone and in combination, providing information about excessive acceleration and speed. Four different virtual scenarios, each one including a distracting element (i.e., navigator, rain, call, and traffic), were also created. Ten participants tested the simulator. Fuel consumption was evaluated by calculating a mean power index (MPI) in reference to the sensory feedback presentation; physiological reactions and responses to a usability survey were also collected. The results revealed that the haptic and visuo-haptic feedback were responsible for an MPI reduction, respectively, for 14% and 11% compared with a condition of no feedback presentation; while visual feedback alone resulted in an MPI increase of 11%. The efficacy of haptic feedback was also accompanied by a more relaxing physiological state of the users, compared with the visual stimulation. The system’s usability was adequate, although haptic stimuli were rated slightly more intrusive than the visual ones. Overall, these preliminary results highlight how promising the use of the haptic channel can be in communicating and guiding the driver toward a more eco-sustainable behavior.

A Customizable Human/Vehicle Interface for Enhanced Operator Performance

2007 ◽  
Author(s):  
Matthew Jensen ◽  
John Wagner ◽  
Kim Alexander ◽  
Philip Pidgeon
Keyword(s):  
Haptic Feedback ◽  
Driving Simulator ◽  
Situational Awareness ◽  
Human Subjects ◽  
Cost Effective ◽  
Steering Wheel ◽  
Instrument Panel ◽  
The Road ◽  
Effective Manner ◽  
Feedback Channels

The emergence of cost effective electronics and actuators within the transportation industry allows the presentation of increased driver feedback for greater situational awareness. The operator feedback channels can be broadly divided into visual, audio, and haptic. To date, the automotive community has primarily relied on instrument panel lamps and buzzer/chime sounds to notify the driver of important information while the vehicle’s interaction with the road is mechanically communicated through the steering wheel “feel” and the driver seat motion. However, an opportunity exists to integrate the visual, audio, and haptic feedback channels in a more effective manner to increase driver safety. For instance, the driver may receive haptic driving information through high frequency and low amplitude steering wheel vibrations. Visual feedback may be presented in the form of LED lights on the dashboard and instrument cluster. Similarly, audio messages that are recognized through a different cognitive process than visual and haptic signals may be integrated into the cockpit. In this paper, a comprehensive approach is proposed for driver communication through visual, audio, and haptic feedback. Laboratory tests have been conducted with human subjects using a custom driving simulator to evaluate driver notification strategies. The effectiveness of each feedback channel is evaluated and the results demonstrate that the coordinated presentation of vehicle operational data through targeted feedback channels increase the operator’s overall safety.

A Steering Wheel System and Controller for the Driving Simulator

2011 ◽  
Vol 295-297 ◽  
pp. 1768-1772
Author(s):  
Ming Xiang Xie ◽  
Yan Ding Wei ◽  
Xiao Jun Zhou ◽  
Chun Yu Wei ◽  
Fang Tang ◽  
...  
Keyword(s):  
Pid Controller ◽  
Dynamic Behaviour ◽  
Driving Simulator ◽  
State Equation ◽  
Steering Wheel ◽  
Rbf Network ◽  
Additional Information ◽  
Bicycle Model ◽  
Reaction Torque ◽  
Real Vehicle

In driving simulator, the driver manipulating the steering wheel can not only be feeling authentic as the real vehicle but also get additional information of the vehicle state and road conditions. For this purpose, a steeling wheel system was detailed designed. A bicycle model was used to analyze the dynamic behaviour of a simplified four-wheel vehicle model and applied to compute the reaction torque. After modeling the steering column and the feedback motor, the state equation of the steering wheel was deduced. The control without PID, with ordinary PID and RBF network PID were adopted to control the feedback motor to generate desired torque. Simulation in matlab/simulink shows that the steering wheel has good performance and the RBF network PID controller has better performance and can satisfy the requirement of the reaction torque. This study will be a guide research for future driving simulator.

scholarly journals Problems of using haptic feedback to control manipulator tools

2021 ◽  
Vol 338 ◽  
pp. 01014
Author(s):  
Marian Janusz Łopatka ◽  
Daniel Sterniczuk
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Control Systems ◽  
Haptic Feedback ◽  
Feedback Control System ◽  
Work Tasks ◽  
Machine Operators ◽  
Current Design ◽  
Feedback Control Systems ◽  
Hydraulic Manipulator

The paper reviews the machine operators support technologies used in carrying out work tasks. The limitations of the current design solutions have been identified. The construction of control systems using haptic feedback was discussed and the research carried out on this technology was reviewed. The concept of hydraulic manipulator tool and its haptic feedback control system for monitoring loads during working movements is presented. The concept of the test stand for testing haptic feedback control systems and the preliminary experiment plan are presented.

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