Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Model Based Impedance Control For Haptic Interafce Sic Development Using Hardware In The Loop Experimental Setup
Download Model Based Impedance Control For Haptic Interafce Sic Development Using Hardware In The Loop Experimental Setup full books in PDF, epub, and Kindle. Read online Model Based Impedance Control For Haptic Interafce Sic Development Using Hardware In The Loop Experimental Setup ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Book Synopsis Model Based Impedance Control for Haptic Interface Development Using Hardware-in-the-loop Experimental Setup by : Kang Wen
Download or read book Model Based Impedance Control for Haptic Interface Development Using Hardware-in-the-loop Experimental Setup written by Kang Wen and published by . This book was released on 2004 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptic interfacing provides the means through which human operators can interact with virtual environments. A haptic interface contains software simulated virtual environments, controllers and haptic devices. Impedance control is investigated in this thesis from the viewpoint of suitability for haptic interface development. The difference between conventional application of impedance control in robot motion control and its application in haptic interface development is also investigated. A model based impedance control methodology was developed for haptic controller design and proved feasible for defining the interaction between a human operator and a virtual environment. The factors that could have effects to the performance of a haptic interface were also investigated experimentally using parametric studies. The investigation was carried out on a HIL (Hardware-In-the-Loop) experimental setup, which combines the real hardware and mathematically simulated components. This HIL experimental set up can be used as a generic platform for the development and testing haptic interface options before prototypes are built.
Book Synopsis Model Based Impedance Control for Haptic Interafce [sic] Development Using Hardware-in-the-loop Experimental Setup by : Kang Wen
Download or read book Model Based Impedance Control for Haptic Interafce [sic] Development Using Hardware-in-the-loop Experimental Setup written by Kang Wen and published by . This book was released on 2004 with total page 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 Development and Testing of Haptic Interfaces Using Electro-rheological Fluids by :
Download or read book Development and Testing of Haptic Interfaces Using Electro-rheological Fluids written by and published by . This book was released on 2007 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research has been performed to develop haptic interface devices, utilizing advanced actuators, to transmit information and receive control signals through interaction with a user's sense of touch. Haptic systems convey tactile and force information through the sense of touch by applying forces to a user's hands and other similar methods. The ability to generate force information allows systems to be designed where operators can see, hear and feel virtual or remote environments. In addition, using the sense of touch allows for new pathways to present information to a user, along with the standard visual and auditory interfaces. Interface devices have been developed to improve and simplify the manner in which a person interacts with computers and other technological systems. The focus has been to develop force-feedback interface systems to be used to control various devices such as the climate control and audio systems within an automobile. These advanced computer controlled systems can be used to consolidate various controls into fewer feedback control devices to create a simpler, more efficient interface. In addition, the use of force cues allows information to be transmitted to the user and control settings to be changed by the user without requiring the user's visual attention. Electrorheological Fluid (ERF) based actuators have been developed to provide the required feedback sensations. ERFs are fluids that change their viscosity in response to an electric field. Using the electrically controlled rheological properties of ERFs, devices have been developed that can resist operator forces in a controlled and tunable fashion. Three ERF-based actuators have been designed and prototypes have been built. Analytical models have been developed to describe the performance of these systems, and experimental analyses performed to verify the operation of the actuators. The actuators have been incorporated into various prototype Haptic Knob and Haptic Joystick devices. The addition of force cues allows these familiar devices to be used as advanced interface systems to provide information to and sense commands from a user. Force information from these devices has been maximized by performing Human Factors experiments to assess whether different design variations can increase the systems' effectiveness. Factors such as hand position and handle texture have been assessed, statistical analyses performed on the results and the most effective versions have been identified. Methods for the application to the automotive haptic devices have been developed. Demonstrations have been created to prove the ability of the systems to provide information through the use of advanced haptic interfaces. In addition, concepts for future avenues of research have been developed to allow for continued research.
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. This book was released on 2022-11-06 with total page 0 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 The Monash Epicyclic Parallel Manipulator by : Sajeeva Niranta Yapa Abeywardena
Download or read book The Monash Epicyclic Parallel Manipulator written by Sajeeva Niranta Yapa Abeywardena and published by . This book was released on 2014 with total page 215 pages. Available in PDF, EPUB and Kindle. Book excerpt: Force-feedback haptic devices are human operated mechanisms which manipulate objects in a remote environment and relay back the interaction experienced by the object to the user. The structure of force-feedback devices resemble that of robotic mechanisms, employing either a serial, parallel or hybrid architecture. In the study discussed in this thesis, the Monash Epicyclic Parallel Manipulator (MEPaM), a novel three-legged six degree-of-freedom (dof) parallel mechanism with base mounted actuators is introduced. The characteristics of MEPaM are suitable for use as an impedance-type haptic device-that is, a device in which the user has control over motion and force is applied by the device motors. Before the mechanism was used as a haptic device, a theoretical investigation into the geometric models, singularities and dynamics of MEPaM was conducted. This showed that the mechanism has simpler geometric and dynamic features when compared with existing six-dof parallel mechanisms. Accurate pose estimation is paramount in haptic situations, with the correct geometric parameters required. The geometric parameters of MEPaM were found experimentally through a geometric calibration, such that the identified parameters minimised errors between estimates from the geometric models and measurements. The suitability of MEPaM as a haptic device was investigated using the concepts of Z-Width and transparency. Three control strategies-open loop impedance control, open loop impedance control with model feedforward and impedance control with force feedback-were implemented, with the best performance found when the impedance control with force feedback strategy was used. Further, it was found that the force capabilities and maximum limits of Z-Width of MEPaM are comparable or superior to commercially available devices. Future investigation into the use of MEPaM as a haptic device in virtual environments which simulate needle punctures or tools in trocars used in minimally invasive surgery for purpose of medical training is recommended.
Book Synopsis Development and Investigation of Semi-active Haptic Interfaces Using Digital Resistance Map Concept by : Ehsan Asadi
Download or read book Development and Investigation of Semi-active Haptic Interfaces Using Digital Resistance Map Concept written by Ehsan Asadi and published by . This book was released on 2012 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: The growing demand for haptic technologies in recent years has motivated novel approaches in developing haptic interfaces and control algorithms. Based on the force reflecting nature and energy flow directions, those interfaces are categorized in active and semi-active groups. Semi-active interfaces, in general, have the advantage of addressing safety concerns which adversely affects their active counterparts. This thesis presents the development of semi-active haptic interfaces using Magnetorheological (MR)-dampers. The ability of MR-Dampers in producing controllable resistance forces is the key reason for their utilization in interfaces. Our semi-active haptic interfaces are consisted of linear and rotary MR-Dampers. Each of the MR-Dampers is modeled using Bouc-Wen model. The parameters of the mathematical equation of the MR-Damper are identified experimentally. The concept of Digital Resistance Map (DRM) is developed as main strategy for activating MR-Dampers for semi-active interfaces. A preliminary study is carried out to verify the potentials of MR-Dampers and DRM for implementing in semi-active haptic system. Next, the DRM concept is expanded and introduced as a haptic rendering algorithm. The DRM is a high-fidelity haptic rendering algorithm and proved to be effective to create comprehensive force feedback for operators. MATLAB/Simulink is used for implementing several DRM scenarios for generating haptic enabled virtual environments. Several experiments are conducted to demonstrate the effectiveness of the interface and rendering algorithm. A human subject experiment is also included as a further investigation of the proposed system. The interface is integrated with virtual reality to provide the human operators with haptic and visual feedbacks. The obtained results confirm that the proposed system is able to generate understandable haptic and visual feedbacks to help the operators to explore virtual environments. Also, it is found that, to obtain the best human performances, haptic and visual feedbacks need to be combined.
Book Synopsis Robot Force Control by : Bruno Siciliano
Download or read book Robot Force Control written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
Book Synopsis Intelligent Mechatronic Systems by : Rochdi Merzouki
Download or read book Intelligent Mechatronic Systems written by Rochdi Merzouki and published by Springer Science & Business Media. This book was released on 2012-11-27 with total page 960 pages. Available in PDF, EPUB and Kindle. Book excerpt: Acting as a support resource for practitioners and professionals looking to advance their understanding of complex mechatronic systems, Intelligent Mechatronic Systems explains their design and recent developments from first principles to practical applications. Detailed descriptions of the mathematical models of complex mechatronic systems, developed from fundamental physical relationships, are built on to develop innovative solutions with particular emphasis on physical model-based control strategies. Following a concurrent engineering approach, supported by industrial case studies, and drawing on the practical experience of the authors, Intelligent Mechatronic Systems covers range of topic and includes: An explanation of a common graphical tool for integrated design and its uses from modeling and simulation to the control synthesis Introductions to key concepts such as different means of achieving fault tolerance, robust overwhelming control and force and impedance control Dedicated chapters for advanced topics such as multibody dynamics and micro-electromechanical systems, vehicle mechatronic systems, robot kinematics and dynamics, space robotics and intelligent transportation systems Detailed discussion of cooperative environments and reconfigurable systems Intelligent Mechatronic Systems provides control, electrical and mechanical engineers and researchers in industrial automation with a means to design practical, functional and safe intelligent systems.
Book Synopsis Control Problems in Robotics by : Antonio Bicchi
Download or read book Control Problems in Robotics written by Antonio Bicchi and published by Springer Science & Business Media. This book was released on 2007-07-12 with total page 283 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ?eld of robotics continues to ?ourish and develop. In common with general scienti?c investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scienti?c or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the ?elds of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Antonio Bicchi, Henrik Christensen and Domenico Prattichizzo is the outcome of the second edition of a workshop jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society. Noticeably, the previous volume was published in the Springer Lecture Notes on Control and Information Sciences. The authors are recognised as leading scholars internationally. A n- ber of challenging control problems on the forefront of today’s research in robotics and automation are covered, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, ?exible and cooperative robots, assembly systems.
Book Synopsis Rigid Body Dynamics for Beginners by : Phil Kim
Download or read book Rigid Body Dynamics for Beginners written by Phil Kim and published by Createspace Independent Publishing Platform. This book was released on 2013 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Has anyone experienced difficulty and confusion in understanding what the Euler angles, quaternions, and direction cosine matrices are, and furthermore, about the relationships among them? This book is for those who had struggled to figure out what all the aforementioned concepts are, and also provides a practical example that could be easily followed with MATLAB. In addition, some surface of linear motions will also be touched so that in the end, a set of equations of motion that describe the motion of a rigid body in three-dimensional space could be constructed. Following step by step, the reader will be gradually immersed into the joy of learning and applying basic attitude dynamics. The book will be good for those who are already familiar in the field by helping them reorganize the concepts and knowledge they have learned before.
Book Synopsis Intelligent Adaptive Systems by : Ming Hou
Download or read book Intelligent Adaptive Systems written by Ming Hou and published by CRC Press. This book was released on 2014-12-02 with total page 336 pages. Available in PDF, EPUB and Kindle. Book excerpt: As ubiquitous as the atmosphere, intelligent adaptive systems (IASs) surround us in our daily lives. When designed well, these systems sense users and their environments so that they can provide support in a manner that is not only responsive to the evolving situation, but unnoticed by the user. A synthesis of recent research and developments on IASs from the human factors (HF) and human–computer interaction (HCI) domains, Intelligent Adaptive Systems: An Interaction-Centered Design Perspective provides integrated design guidance and recommendations for researchers and system developers. The book explores a recognized lack of integration between the HF and HCI research communities, which has led to inconsistencies between the research approaches adopted, and a lack of exploitation of research from one field by the other. The authors integrate theories and methodologies from these domains to provide design recommendations for human–machine developers. They then establish design guidance through the review of conceptual frameworks, analytical methodologies, and design processes for intelligent adaptive systems. The book draws on case studies from the military, medical, and distance learning domains to illustrate intelligent system design to examine lessons learned. Outlining an interaction-centered perspective for designing an IAS, the book details methodologies for understanding human work in complex environments and offers understanding about why and how optimizing human–machine interaction should be central to the design of IASs. The authors present an analytical and design methodology as well as an implementation strategy that helps you choose the proper design framework for your needs.
Book Synopsis The Psychophysiology Primer by : Benjamin Cowley
Download or read book The Psychophysiology Primer written by Benjamin Cowley and published by . This book was released on 2016-10-05 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Psychophysiology Primer provides a foundational review of the field of psychophysiology to serve as a primer for the novice, enabling rapid familiarisation with the core concepts, or as a quick reference resource for advanced readers.
Book Synopsis Advanced Human-Robot Collaboration in Manufacturing by : Lihui Wang
Download or read book Advanced Human-Robot Collaboration in Manufacturing written by Lihui Wang and published by Springer Nature. This book was released on 2021-06-10 with total page 457 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents state-of-the-art research, challenges and solutions in the area of human–robot collaboration (HRC) in manufacturing. It enables readers to better understand the dynamic behaviour of manufacturing processes, and gives more insight into on-demand adaptive control techniques for industrial robots. With increasing complexity and dynamism in today’s manufacturing practice, more precise, robust and practical approaches are needed to support real-time shop-floor operations. This book presents a collection of recent developments and innovations in this area, relying on a wide range of research efforts. The book is divided into five parts. The first part presents a broad-based review of the key areas of HRC, establishing a common ground of understanding in key aspects. Subsequent chapters focus on selected areas of HRC subject to intense recent interest. The second part discusses human safety within HRC. The third, fourth and fifth parts provide in-depth views of relevant methodologies and algorithms. Discussing dynamic planning and monitoring, adaptive control and multi-modal decision making, the latter parts facilitate a better understanding of HRC in real situations. The balance between scope and depth, and theory and applications, means this book appeals to a wide readership, including academic researchers, graduate students, practicing engineers, and those within a variety of roles in manufacturing sectors.
Author :National Academies of Sciences, Engineering, and Medicine Publisher :National Academies Press ISBN 13 :030945784X Total Pages :503 pages Book Rating :4.3/5 (94 download)
Book Synopsis The Promise of Assistive Technology to Enhance Activity and Work Participation by : National Academies of Sciences, Engineering, and Medicine
Download or read book The Promise of Assistive Technology to Enhance Activity and Work Participation written by National Academies of Sciences, Engineering, and Medicine and published by National Academies Press. This book was released on 2017-09-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: The U.S. Census Bureau has reported that 56.7 million Americans had some type of disability in 2010, which represents 18.7 percent of the civilian noninstitutionalized population included in the 2010 Survey of Income and Program Participation. The U.S. Social Security Administration (SSA) provides disability benefits through the Social Security Disability Insurance (SSDI) program and the Supplemental Security Income (SSI) program. As of December 2015, approximately 11 million individuals were SSDI beneficiaries, and about 8 million were SSI beneficiaries. SSA currently considers assistive devices in the nonmedical and medical areas of its program guidelines. During determinations of substantial gainful activity and income eligibility for SSI benefits, the reasonable cost of items, devices, or services applicants need to enable them to work with their impairment is subtracted from eligible earnings, even if those items or services are used for activities of daily living in addition to work. In addition, SSA considers assistive devices in its medical disability determination process and assessment of work capacity. The Promise of Assistive Technology to Enhance Activity and Work Participation provides an analysis of selected assistive products and technologies, including wheeled and seated mobility devices, upper-extremity prostheses, and products and technologies selected by the committee that pertain to hearing and to communication and speech in adults.
Download or read book The Pendulum written by Gregory L. Baker and published by OUP Oxford. This book was released on 2008-11-28 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt: The pendulum: a case study in physics is a unique book in several ways. Firstly, it is a comprehensive quantitative study of one physical system, the pendulum, from the viewpoint of elementary and more advanced classical physics, modern chaotic dynamics, and quantum mechanics. In addition, coupled pendulums and pendulum analogs of superconducting devices are also discussed. Secondly, this book treats the physics of the pendulum within a historical and cultural context, showing, for example, that the pendulum has been intimately connected with studies of the earth's density, the earth's motion, and timekeeping. While primarily a physics book, the work provides significant added interest through the use of relevant cultural and historical vignettes. This approach offers an alternative to the usual modern physics courses. The text is amply illustrated and augmented by exercises at the end of each chapter.
Book Synopsis Innovations in Biomedical Engineering by : Marek Gzik
Download or read book Innovations in Biomedical Engineering written by Marek Gzik and published by Springer Nature. This book was released on 2022-05-31 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the latest developments in the field of biomedical engineering and includes practical solutions and strictly scientific considerations. The development of new methods of treatment, advanced diagnostics or personalized rehabilitation requires close cooperation of experts from many fields, including, among others, medicine, biotechnology and finally biomedical engineering. The latter, combining many fields of science, such as computer science, materials science, biomechanics, electronics not only enables the development and production of modern medical equipment, but also participates in the development of new directions and methods of treatment. The presented monograph is a collection of scientific papers on the use of engineering methods in medicine. The topics of the work include both practical solutions and strictly scientific considerations expanding knowledge about the functioning of the human body. We believe that the presented works will have an impact on the development of the field of science, which is biomedical engineering, constituting a contribution to the discussion on the directions of development of cooperation between doctors, physiotherapists and engineers. We would also like to thank all the people who contributed to the creation of this monograph—both the authors of all the works and those involved in technical works.
![Download Model Based Impedance Control for Haptic Interafce [sic] Development Using Hardware-in-the-loop Experimental Setup PDF Online Free](https://books.google.com/books/content/images/frontcover/EWV9NwAACAAJ?fife=w200-h370)
