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Design Control And Evaluation Of A Family Of Kinesthetic Haptic Interfaces
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Book Synopsis Design, Control, and Evaluation of a Family of Kinesthetic Haptic Interfaces by : Marc-Walter Ueberle
Download or read book Design, Control, and Evaluation of a Family of Kinesthetic Haptic Interfaces written by Marc-Walter Ueberle and published by . This book was released on 2006 with total page 177 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Stability, Performance and Control of High Power, High Performance Kinesthetic Haptic Interfaces by : Chembian Parthiban
Download or read book Stability, Performance and Control of High Power, High Performance Kinesthetic Haptic Interfaces written by Chembian Parthiban and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: There has been significant progress in the performance evaluation and control of low power impedance-based haptic devices. While recent research efforts have focussed in the design and development of high power haptic devices, there is a lot of potential to develop performance evaluation techniques and alternative control approaches to improve the performance and stability, specifically for high power admittance-based and hybrid actuation haptic interfaces. We present an analytical model developed to investigate the performance limitations of admittance-based haptic interfaces. The model is used to investigate the effects that position control bandwidth and outer loop delay have on the stability and rendering range of an admittance-based interface. We show that the performance, as defined by both the minimum renderable mass and the rendering frequency range, is directly related to the closed-loop bandwidth of the inner-position loop and the amount of additional delay in the outer rendering loop. Our results are validated using a one degree-of-freedom admittance-based device. Evaluating the transparency or output impedance more generally, of admittance-type haptic devices is challenging due to their inherently non-back-drivable mechanical characteristics. To address this, we describe a new, simplified evaluation approach that eliminates the need for external test fixtures. The simplified approach relies on the easily obtainable closed-loop position control response of the device in combination with a device/system dynamic model. In addition to evaluating output impedance, the approach can be used to evaluate the overall stable rendering range of the device. Finally, the limitations of the approach are discussed. Hybrid actuation approaches for haptic interfaces generally suffer from asymmetry in rendering and torque capabilities. We describe the design of a high-performance balanced hybrid haptic device, which addresses asymmetry by combining a high-power, low-impedance active compliant actuation (series-elastic actuator) with energy absorbing high-force passive actuation in parallel with a fast, low-power secondary active actuation. We describe the actuation, design and control approaches and experimentally validate the approach with a one degree-of-freedom testbed. The performance is compared with active only approach and results show significant improvements in stability and rendering range of the device.
Book Synopsis Performance Metrics for Haptic Interfaces by : Evren Samur
Download or read book Performance Metrics for Haptic Interfaces written by Evren Samur and published by Springer Science & Business Media. This book was released on 2012-07-13 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptics technology is being used more and more in different applications, such as in computer games for increased immersion, in surgical simulators to create a realistic environment for training of surgeons, in surgical robotics due to safety issues and in mobile phones to provide feedback from user action. The existence of these applications highlights a clear need to understand performance metrics for haptic interfaces and their implications on device design, use and application. Performance Metrics for Haptic Interfaces aims at meeting this need by establishing standard practices for the evaluation of haptic interfaces and by identifying significant performance metrics. Towards this end, a combined physical and psychophysical experimental methodology is presented. Firstly, existing physical performance measures and device characterization techniques are investigated and described in an illustrative way. Secondly, a wide range of human psychophysical experiments are reviewed and the appropriate ones are applied to haptic interactions. The psychophysical experiments are unified as a systematic and complete evaluation method for haptic interfaces. Finally, synthesis of both evaluation methods is discussed. The metrics provided in this state-of-the-art volume will guide readers in evaluating the performance of any haptic interface. The generic methodology will enable researchers to experimentally assess the suitability of a haptic interface for a specific purpose, to characterize and compare devices quantitatively and to identify possible improvement strategies in the design of a system.
Book Synopsis The Sense of Touch and Its Rendering by : Antonio Bicchi
Download or read book The Sense of Touch and Its Rendering written by Antonio Bicchi and published by Springer Science & Business Media. This book was released on 2008-05-23 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Sense of Touch and its Rendering" presents a unique and interdisciplinary approach highlighting the field of haptic research from a neuropsychological as well as a technological point of view. This edited book is the outcome of the TOUCH-HapSys European research project and provides an important contribution towards a new generation of high-fidelity haptic display technologies. The book is structured in two parts: A. Fundamental Psychophysical and Neuropsychological Research and B. Technology and Applications. The two parts are not however separated, and the many connections and synergies between the two complementary domains of research are highlighted in the text. The eleven chapters discuss the recent advances in the study of human haptic (kinaesthetic, tactile, temperature) and multimodal (visual, auditory, haptic) perception mechanisms. Besides the theoretical advancement, the contributions survey the state of the art in the field, report a number of practical applications to real systems, and discuss possible future developments.
Book Synopsis Haptic Interfaces for Accessibility, Health, and Enhanced Quality of Life by : Troy McDaniel
Download or read book Haptic Interfaces for Accessibility, Health, and Enhanced Quality of Life written by Troy McDaniel and published by Springer Nature. This book was released on 2019-12-18 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first resource to provide in-depth coverage on topical areas of assistive, rehabilitative, and health-related applications for haptic (touch-based) technologies. Application topics are grouped into thematic areas spanning haptic devices for sensory impairments, health and well-being, and physical impairments which are illustrated in this book. A diverse group of experts in the field were invited to contribute different chapters to provide complementary and multidisciplinary perspectives. Unlike other books on haptics, which focus on human haptic perception, specific modalities of haptics (e.g., realistic haptic rendering), or broadly cover the subfields of haptics, this book takes an application-oriented approach to present a tour of how the field of haptics has been advanced with respect to important, impactful thematic focuses. Under Theme 1 “Sensory Impairments”, haptics technologies to support individuals with sensory impairments is presented which includes: Spatial awareness in sensory impairments through touch; Haptically-assisted interfaces for persons with visual impairments; and Enabling learning experiences for visually impaired children by interaction design. Under Theme 2 “Haptics for Health and Well-Being”, haptics technologies aimed at supporting exercise and healthy aging will be covered including: Haptics in rehabilitation, exergames and health; Therapeutic haptics for mental health and well-being; and Applications of haptics in medicine. Under Theme 3 “Haptics for Physical Impairments”, haptics technologies for enhancing the quality of life for individuals with weakened/impaired limbs or neurological diseases impacting movement is targeted including: Assistive soft exoskeletons with pneumatic artificial muscles; Haptics for accessibility in rehabilitative hardware; and intelligent robotics and immersive displays for enhancing haptic interaction in physical rehabilitation environments. Engineers, scientists, and researchers working in the areas of haptics, multimedia, virtual/augmented/mixed-reality, human-computer interaction, assistive technologies, rehabilitative technologies, healthcare technologies, and/or actuator design will want to purchase this book. Advanced level students and hobbyists interested in haptics will also be interested in this book.
Book Synopsis Engineering Haptic Devices by : Thorsten A. Kern
Download or read book Engineering Haptic Devices written by Thorsten A. Kern and published by Springer Nature. This book was released on 2022-11-05 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is an open access book. In this third edition of Engineering Haptic Devices the software part was rewritten from scratch and now includes even more details on tactile and texture interaction modalities. The kinematics section was improved to extend beyond a pure knowledge explanation to a comprehensive guideline on how to actually do and implement haptic kinematic functions. The control section was reworked incorporating some hands-on experience on control implementation on haptic systems. The system, actuator and sensor design chapters were updated to allow easier access to the content. This book is written for students and engineers faced with the development of a task-specific haptic system. Now 14 years after its first edition, it is still a reference for the basics of haptic interaction and existing haptic systems and methods as well as an excellent source of information for technical questions arising in the design process of systems and components. Following a system engineering approach, it is divided into two parts with Part I containing background and reference information as a knowledge basis. Typical application areas of haptic systems and a thorough analysis of haptics as an interaction modality are introduced. The role of users in the design of haptic systems is discussed and relevant design and development stages are outlined. Part II presents all related challenges in the design of haptic systems including general system architecture and control structures, kinematics, actuator principles and all types of sensors you may encounter doing haptic device development. Beside these hardware and mechanical topics, further chapters examine state-of-the-art interfaces to operate the devices, and hardware and software development to push haptic systems to their limits.
Book Synopsis Haptic Guidance for Extended Range Telepresence by : Antonia Pérez Arias
Download or read book Haptic Guidance for Extended Range Telepresence written by Antonia Pérez Arias and published by KIT Scientific Publishing. This book was released on 2014-05-22 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: A novel navigation assistance for extended range telepresence is presented. The haptic information from the target environment is augmented with guidance commands to assist the user in reaching desired goals in the arbitrarily large target environment from the spatially restricted user environment. Furthermore, a semi-mobile haptic interface was developed, one whose lightweight design and setup configuration atop the user provide for an absolutely safe operation and high force display quality.
Book Synopsis Engineering Haptic Devices by : Christian Hatzfeld
Download or read book Engineering Haptic Devices written by Christian Hatzfeld and published by Springer. This book was released on 2014-09-15 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this greatly reworked second edition of Engineering Haptic Devices the psychophysic content has been thoroughly revised and updated. Chapters on haptic interaction, system structures and design methodology were rewritten from scratch to include further basic principles and recent findings. New chapters on the evaluation of haptic systems and the design of three exemplary haptic systems from science and industry have been added. This book was written for students and engineers that are faced with the development of a task-specific haptic system. It is a reference book for the basics of haptic interaction and existing haptic systems and methods as well as an excellent source of information for technical questions arising in the design process of systems and components. Divided into two parts, part 1 contains typical application areas of haptic systems and a thorough analysis of haptics as an interaction modality. The role of the user in the design of haptic systems is discussed and relevant design and development stages are outlined. Part II presents all relevant problems in the design of haptic systems including general system and control structures, kinematic structures, actuator principles and sensors for force and kinematic measures. Further chapters examine interfaces and software development for virtual reality simulations.
Book Synopsis Advances in Telerobotics by : Manuel Ferre
Download or read book Advances in Telerobotics written by Manuel Ferre and published by Springer. This book was released on 2007-08-10 with total page 502 pages. Available in PDF, EPUB and Kindle. Book excerpt: A fascinating book that covers in detail all of the most recent advances in Telerobotics. A must-read for scientists, researchers and students in teleoperation, it describes everything from methods and experimental results to applications and developments. Its three sections cover human system interfaces, control, and applications.
Book Synopsis Haptics for Virtual Reality and Teleoperation by : Matjaž Mihelj
Download or read book Haptics for Virtual Reality and Teleoperation written by Matjaž Mihelj and published by Springer Science & Business Media. This book was released on 2012-12-14 with total page 217 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation. The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic interfaces that will comply with human capabilities at least basic understanding of human sensors-motor system is required. An overview of this topic is provided in the chapter related to human haptics. The book does not try to introduce the state-of-the-art haptic interface solutions because these tend to change quickly. Only a careful selection of different kinematic configurations is shown to introduce the reader into this field. Mathematical models of virtual environment, collision detection and force rendering topics are strongly interrelated and are described in the next two chapters. The interaction with the virtual environment is simulated with a haptic interface. Impedance and admittance based approaches to haptic robot control are presented. Stability issues of haptic interaction are analyzed in details and solutions are proposed for guaranteeing stable and safe operation. Finally, haptic interaction is extended to teleoperation systems. Virtual fixtures which improve the teleoperation and human-robot cooperation in complex environments are covered next and the last chapter presents nanomanipulation as one specific example of teleoperation.
Book Synopsis Model-based Design and Control of Deformable Robots and Haptic Devices by : Margaret Irene Schatz Koehler
Download or read book Model-based Design and Control of Deformable Robots and Haptic Devices written by Margaret Irene Schatz Koehler and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptic interfaces are used in training, guidance, and teleoperation to provide force and tactile feedback to a user from a virtual or remote environment. In contrast to the rigid components typically comprising haptic devices, compliant materials could enable new haptic devices that move via deformation rather than via joints. However, the design and control of devices consisting of soft or deformable components is challenging, due to the complex coupling between actuation and end-effector motion and due to a lack of sensing. This thesis considers the potential for computational model-based methods to address challenges in the design and control of deformable haptic devices. In the first half of this thesis, we introduce a new haptic shape display made of soft materials for organ simulation for medical training. The device is a continuous, fully 3D shape-changing surface that a user can touch and hold. We develop a mass-spring model of the device that allows us to understand how different pneumatic actuators affect the shape. Further, we develop an automated design algorithm based on a heuristic controller and a simulation of the device to determine how to arrange a limited number of actuators to reproduce target shapes. This device and its associated algorithms show how a model can be used to understand complex deformations due to pneumatic actuation of a compliant system. The second half of this thesis focuses on the precise control of deformable haptic devices. Two deformable kinesthetic haptic devices are introduced: a 2-DOF planar device and a 5-DOF device. In these devices, forces are transmitted from the actuators to the user via deformable transmissions which allow for easy fabrication and reduced mass and friction in the device. Using these devices, we demonstrate methods for design, sensing, and control. We derive a general formula for the mapping of actuator stiffness to end-effector stiffness and verify it using the planar device. For sensing, we present results in model-based sensing using only actuator information or using model-calibrated embedded sensors. With these techniques, we can use the deformation of the device to measure the force applied to the device without an external force sensor. We extend techniques from rigid robot workspace analysis to deformable robots. Finally, we develop control techniques for haptic rendering which compensate for device mechanics and characterize the resulting forces. Together, these results in design and control show that model-based methods can overcome some of the challenges of deformable devices to enable new haptic interfaces.
Book Synopsis Advances in Haptics by : Mehrdad Hosseini Zadeh
Download or read book Advances in Haptics written by Mehrdad Hosseini Zadeh and published by BoD – Books on Demand. This book was released on 2010-04-01 with total page 734 pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptic interfaces are divided into two main categories: force feedback and tactile. Force feedback interfaces are used to explore and modify remote/virtual objects in three physical dimensions in applications including computer-aided design, computer-assisted surgery, and computer-aided assembly. Tactile interfaces deal with surface properties such as roughness, smoothness, and temperature. Haptic research is intrinsically multi-disciplinary, incorporating computer science/engineering, control, robotics, psychophysics, and human motor control. By extending the scope of research in haptics, advances can be achieved in existing applications such as computer-aided design (CAD), tele-surgery, rehabilitation, scientific visualization, robot-assisted surgery, authentication, and graphical user interfaces (GUI), to name a few. Advances in Haptics presents a number of recent contributions to the field of haptics. Authors from around the world present the results of their research on various issues in the field of haptics.
Book Synopsis Touch in Virtual Environments by : Margaret L. McLaughlin
Download or read book Touch in Virtual Environments written by Margaret L. McLaughlin and published by Prentice Hall PTR. This book was released on 2002 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptics: The state-of-the-art in building touch-based interfaces for virtual environments. -- Key research issues: model acquisition, contact detection, force feedback, compression, capture, and collaboration. -- Understanding the role of human factors in haptic interfaces. -- Applications: medical training, telesurgery, biological and scientific interfaces, military applications, sign language, museum display, and more. Haptics -- "touch-based" interface design -- is the exciting new frontier in research on virtual and immersive environments. In Touch in Virtual Environments, the field's leading researchers bring together their most advanced work and applications. They identify the key challenges facing haptic interface developers, present today's best solutions, and outline a clear research agenda for the future. This book draws upon work first presented at the breakthrough haptics conference held recently at USC's Integrated Media Systems Center. The editors and contributors begins by reviewing key haptics applications and the challenges of effective haptic rendering, presenting new insights into model acquisition, contact detection, force feedback, compression, capture, collaboration, and other key issues. Next, they focus on the complex human factors associated with successful haptic interfaces, examining questions such as: How can we make haptic displays more usable for blind and visually impaired users? What are the differences between perceiving texture with the bare skin and with a probe? In the book's final section, several of today's leading haptic applications are introduced, including telesurgery and surgical simulation; scientific visualization.
Book Synopsis Design and Control of an Integrated Haptic Interface for Touch Screen Applications by : Yi Yang
Download or read book Design and Control of an Integrated Haptic Interface for Touch Screen Applications written by Yi Yang and published by . This book was released on 2013 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The lack of haptic feedback is a significant problem of current touch screens. Without haptic feedback, users have to rely almost entirely on visual feedback to operate on a touch screen. As a result, users' performance is deteriorated and users' visual workload is increased. Adding tactile feedback to touch screens has shown to be a promising solution to address this problem. However, the force feedback in interactions with virtual objects on touch screens is not provided. This thesis presents the design and evaluation of an integrated haptic device for enhancing interactions on touch screens. The device consists of a cable-driven force feedback device and a squeeze film based tactile device. The cable-driven force feedback device uses four cables to provide force feedback to one finger or dual fingers through controlling the cable tensions. It can provide force feedback when the user clicks a button, grasps an object and interacts with other objects. The tactile device is based on the squeeze film effect to reduce the friction coefficient on the touch surface. We propose an accurate model to analyze the power consumption of the device and use the model to develop a large area (198 mm × 138mm) tactile device with very few piezoceramics and low power consumption. Each of these two devices can be used individually and the integrated device is able to provide simultaneous force feedback and tactile feedback on a touch surface. The coupled haptic feedback has been evaluated through simulating a boundary. As compared with a single type of haptic feedback (e.g. force feedback), the coupled haptic feedback enhances the simulation by making the boundary stiffer and crisper.
Book Synopsis Haptic and Audio Interaction Design by : M. Ercan Altinsoy
Download or read book Haptic and Audio Interaction Design written by M. Ercan Altinsoy and published by Springer Science & Business Media. This book was released on 2009-09-03 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 4th International Workshop on Haptic and Audio Interaction Design, HAID 2009 held in Dresden, Germany in September 2009. The 17 revised full papers presented were carefully reviewed and selected for inclusion in the book. The papers are organized in topical sections on haptic communication and perception, navigation and guidance, visual impairment, vibrotactile feedback and music, multimodal user interfaces: design and evaluation, and multimodal gaming.
Book Synopsis Design, Control, and Simulation Strategies for Haptic Interfaces by : Francois Lawrence Conti
Download or read book Design, Control, and Simulation Strategies for Haptic Interfaces written by Francois Lawrence Conti and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptics is an emerging technology that involves transmitting information through the sense of touch. This hands-on form of interaction is achieved by using small actuated interfaces called haptic devices that apply forces, vibrations, and/or motions to the user. This work explores three different areas of haptics: hardware design, device control, and dynamic simulation. First, we explore the limitations of traditional haptic devices that rely on motors for actuation, and propose a new hybrid actuation design that is safer and more energy efficient. This new hybrid design addresses safety concerns by combining the use of brakes, springs, and mini-motors. The new design also overcomes many of the force rendering limitations of passive haptic displays. Second, we introduce a new control strategy to effectively map the physical workspace of haptic devices inside virtual simulations. The proposed technique relies on progressively relocating the physical workspace of the device mapped inside of the virtual environment towards the operator's area of activity without disturbing his or her tactile perception of the environment. This approach is based on the observation that humans are greatly influenced by what they perceive visually and do not notice small deviations of their hand, unless that small deviation has a corresponding visual component. Finally, we propose a unified framework for the real-time dynamic simulation and contact resolution of rigid articulated bodies. This work builds on previous developments in the field of dynamic simulation, collision detection, contact resolution, and operational space control. However, the key to efficiency and real-time performance is a new parallel implementation of our collision detection and contact resolution algorithm which decomposes the problem into tasks that can be concurrently executed.
Book Synopsis Haptic and Audio Interaction Design by : Ian Oakley
Download or read book Haptic and Audio Interaction Design written by Ian Oakley and published by Springer. This book was released on 2013-08-30 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 8th International Conference on Haptic and Audio Interaction Design, HAID 2013, held in Daejeon, Korea, in April 2013. The 14 full papers presented were carefully reviewed and selected from numerous submissions. The papers are organized in topical sections on non-intrusive and thermal haptics, new interfaces and interactions, emotion and affect, music, and mobile devices and applications.
