Dynamic compensating controller for passive haptic manipulators in teleoperation

Black, Benjamin; Book, Wayne J.

doi:10.1109/robot.2009.5152646

Cited by 4 publications

(2 citation statements)

References 12 publications

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“…In the literature, a possible hardware design approach consists in using passive components such as brakes [18] or passive isometric input devices [19]. However, passive input devices have rendering limitations and may lead to large steady-state errors in teleoperation tasks.…”

Section: Introductionmentioning

confidence: 99%

Cutaneous Force Feedback as a Sensory Subtraction Technique in Haptics

Prattichizzo

Pacchierotti

Rosati

2012

IEEE Trans. Haptics

148

122

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Abstract-A novel sensory substitution technique is presented. Kinesthetic and cutaneous force feedback are substituted by cutaneous feedback (CF) only, provided by two wearable devices able to apply forces to the index finger and the thumb, while holding a handle during a teleoperation task. The force pattern, fed back to the user while using the cutaneous devices, is similar, in terms of intensity and area of application, to the cutaneous force pattern applied to the finger pad while interacting with a haptic device providing both cutaneous and kinesthetic force feedback. The pattern generated using the cutaneous devices can be thought as a subtraction between the complete haptic feedback (HF) and the kinesthetic part of it. For this reason, we refer to this approach as sensory subtraction instead of sensory substitution. A needle insertion scenario is considered to validate the approach. The haptic device is connected to a virtual environment simulating a needle insertion task. Experiments show that the perception of inserting a needle using the cutaneous-only force feedback is nearly indistinguishable from the one felt by the user while using both cutaneous and kinesthetic feedback. As most of the sensory substitution approaches, the proposed sensory subtraction technique also has the advantage of not suffering from stability issues of teleoperation systems due, for instance, to communication delays. Moreover, experiments show that the sensory subtraction technique outperforms sensory substitution with more conventional visual feedback (VF).

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Section: Introductionmentioning

confidence: 99%

Cutaneous Force Feedback as a Sensory Subtraction Technique in Haptics

Prattichizzo

Pacchierotti

Rosati

2012

IEEE Trans. Haptics

148

122

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“…In this method, high frequency forces are applied in a short time period at the beginning of contact to improve the user perception of realism. A dynamic compensating controller for transparency improvement of a passive haptic device was studied in previous work [15]. The algorithm given improved the device transparency in dynamic situations during telemanipulation processes.…”

Section: Introductionmentioning

confidence: 99%

Robust stable control of haptic devices based on transparency maximization

Ahmadian

Vossoughi

Tajaddodianfar

2011

Proceedings of the Institution of Mechanical Engineers, Part I:

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The performance of haptic devices is evaluated based on the concept of transparency, while their stability has prevalently been evaluated based on the passivity criterion. Due to the conservativeness of passivity, it appears as an obstacle to improving transparency. In the present paper, passivity is suggested to be replaced by the complementary stability criterion which accounts for the robust stability of the interaction in the presence of uncertain user hand dynamics. In this respect, an algorithm is proposed which guarantees transparency of the haptic device in a stable manner. Assuming that the dynamics of the device is known, a certain compensatory structure is assigned. This special structure guarantees transparency of the device by compensating for the dynamics of the device and its control loop. The design objective is to obtain a stabilizing controller which achieves robust interaction stability in the presence of parametric uncertainties of user hand dynamics and other sources of uncertainties. An iterative method is implemented, in conjunction with the D-K iteration algorithm, to derive controller dynamics. The algorithm is applied to a series elastic actuator-based haptic device. This results in a widened frequency range of transparent impedance emulation. Simulation results confirm enhanced transparency and robust stability.

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