Adaptive force feedback control of haptic devices in a virtual environment

1999 ◽  
Author(s):  
Khashayar Khorasani
Keyword(s):  
Feedback Control ◽  
Virtual Environment ◽  
Force Feedback ◽  
Haptic Devices

Development of an Electro-Rheological Fluidic Actuator and Haptic Systems for Vehicular Instrument Control

2003 ◽  
Author(s):  
Avi Fisch ◽  
Jason Nikitczuk ◽  
Brian Weinberg ◽  
Juan Melli-Huber ◽  
Constantinos Mavroidis ◽  
...  
Keyword(s):  
Feedback Control ◽  
Visual Attention ◽  
Electric Field ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Haptic Devices ◽  
Experimental Systems ◽  
Instrument Control ◽  
Control Devices ◽  
Sense Of Touch

Force-feedback methanisms have been designed to simplify and enahance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. Haptic system, or systems that interact with the operator’s sense of touch, can be used to consolidate various controls into fever, haptic feedback control devices, so that information can be transmitted to the operator and the operator can change control settings without requiring the driver’s visual attention. In this paper an Electro-Rheological Fluid (ERF) based actuator and mechanisms are presented that provide haptic feedback. ERSs are fluids that change their viscosity in response to an electric field. Using the electrically controlled rheological properties of ERFs, haptic devices have been developed that can resist human operator forces in a controlled and tunable fashion. The design of an ERF-based actuator and its application to a haptic knob and haptic joystick is presented. The analytical model is given, analyses are performed, and experimental systems and data are presented for the actuator. Conceptual methods for the application to the haptic devices are presented.

Stability Control of Haptic Interface

2007 ◽  
Author(s):  
Jisheng Zhang ◽  
Jiting Li ◽  
Mileta M. Tomovic ◽  
Yuru Zhang
Keyword(s):  
Virtual Environment ◽  
Pid Control ◽  
Closed Loop ◽  
Force Feedback ◽  
Control Method ◽  
Stability Control ◽  
Haptic Device ◽  
System Stability ◽  
Haptic Devices ◽  
Loop Equation

Haptic devices and man-machine interaction have attracted intense research interest in recent years due to numerous potential applications, including medical, dental, military, and nuclear. One of the challenges involved with haptic devices is providing human operator realistic sensory feeling through force feedback output from the haptic device. In order to acquire adequate fidelity, the stiffness of the virtual environment must be sufficiently large. However, this is typically accompanied with vibration of the haptic device. Hence, one of the key issues related to haptic systems is to ensure system’s stability. Although some effort has been done to address this issue, this is so far an unresolved problem. This paper presents current closed-loop PID control method for achieving system stability on the example of one-degree-of-freedom haptic device. In order to identify parameters of the PID controller, the control system is first modeled and the equation of the current closed-loop PID control is formulated. Then, by generalizing the relationship between the motor output torque and the virtual force at the output end of the device, the current closed-loop equation is transferred into that of the force. In addition, the paper analyzes the robustness of PID controlled haptic device. To validate the method, three simulation experiments are performed, with spring model, damper model, and spring damper model. The results show that there is a set of PID parameters which result in stable haptic device. One of the advantages of the proposed method is that it can regulate PID parameters to fit different virtual environment. This provides a fundamental approach to improve stability of haptic systems. In addition, the proposed method can be embedded in the software.

Development of a Networked Haptic Environment in VR to Facilitate Collaborative Design Using Voxmap Pointshell (VPS) Software

2004 ◽  
Author(s):  
Chang E. Kim ◽  
Judy M. Vance
Keyword(s):  
Virtual Environments ◽  
Virtual Environment ◽  
Collaborative Design ◽  
Force Feedback ◽  
Global Network ◽  
Local Network ◽  
Haptic Devices ◽  
Geographically Dispersed ◽  
Networked Virtual Environment ◽  
Sharing Space

A networked virtual environment is a hardware and software system where people who are geographically dispersed over the world can interact with each other by sharing space, presence, and time [1]. The goal of the work presented here is to develop methods to facilitate the use of force feedback, or haptic, devices within a networked virtual environment. Our research aims at investigating and constructing a networked haptic environment (NHE) over a non-dedicated channel for multiple users. The NHE consists of a local network between each haptic device and each virtual environment, as well as a global network linking all of the virtual environments. Position synchronization throughout the global network is accomplished using “Released-but-not-released” method (RNR) which allows computers with different performance capabilities to participate in the network without users experiencing inaccurate object motions. The networked virtual assembly application has been demonstrated using several haptic devices and several virtual environments, without a limitation on number of users or complexity of input models. Performance measures are examined and future work is outlined.

Bilateral Force Feedback Control for a Vehicle-Type Tele-Mobility System

2013 ◽  
Vol 133 (8) ◽  
pp. 795-803
Author(s):  
Kazuki Nagase ◽  
Shutaro Yorozu ◽  
Takahiro Kosugi ◽  
Yuki Yokokura ◽  
Seiichiro Katsura
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Vehicle Type ◽  
Mobility System

Design of a Novel Parallel Mechanism for Haptic Device

2021 ◽  
pp. 1-63
Author(s):  
Jin Lixing ◽  
Duan Xingguang ◽  
Li Changsheng ◽  
Shi Qingxin ◽  
Wen Hao ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Parallel Architecture ◽  
General Purpose ◽  
Haptic Device ◽  
Haptic Devices ◽  
Modeling And Optimization ◽  
Teleoperation Systems

Abstract This paper presents a novel parallel architecture with seven active degrees of freedom (DOFs) for general-purpose haptic devices. The prime features of the proposed mechanism are partial decoupling, large dexterous working area, and fixed actuators. The detailed processes of design, modeling, and optimization are introduced and the performance is simulated. After that, a mechanical prototype is fabricated and tested. Results of the simulations and experiments reveal that the proposed mechanism possesses excellent performances on motion flexibility and force feedback. This paper aims to provide a remarkable solution of the general-purpose haptic device for teleoperation systems with uncertain mission in complex applications.

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