Haptic System Interface Design and Modelling for Bilateral Teleoperation Systems

Nahri, Syeda Nadiah Fatima; Du, Shengzhi; Wyk, Barend Jacobus van

doi:10.1109/saupec/robmech/prasa48453.2020.9041010

Cited by 5 publications

(2 citation statements)

References 19 publications

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“…Further, control of higher-order systems (n-dimensional states) by the proposed controller, robustness analysis for the case of system parameter perturbations, assessment of bigger time delay, and comprehensive research on time-delay compensation will form part of future work. Application-wise, control of the developed human-machine interface platform (seen in [49]) by the proposed algorithm of this paper, along with its stability and transparency analysis, can serve in the future as a worthwhile contribution to the field of control systems theory and bilateral teleoperation applications.…”

Section: Conclusion and Future Recommendationsmentioning

confidence: 99%

Predictive Extended State Observer-Based Active Disturbance Rejection Control for Systems with Time Delay

Nahri

Wyk

2023

Machines

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The latest research on disturbance rejection mechanisms has shown active disturbance rejection control (ADRC) to be an effective controller for uncertainties and nonlinear dynamics em-bedded in systems to be controlled. The significance of the ADRC controller is its model-free nature, as it requires minimal knowledge of the system model. In addition, it can actively estimate and compensate for the impact of internal and external disturbances present, with the aid of its crucial subsystem called the extended state observer (ESO). However, ADRC controller design becomes more challenging owing to different system disturbances, such as output disturbances, measure-ment noise, and varying time-delays persistent in the system’s communication channels. Most dis-turbance rejection techniques aim to reduce internal perturbations and external disturbances (input and output disturbance). However, output disturbance rejection with measurement noise under time-delay control is still a challenging problem. This paper presents a novel predictive ESO-based ADRC controller for time-delay systems by employing predictive methods to compensate for the disturbances originating from time delay. The prediction mechanism of the novel (proposed) con-troller design is greatly attributed to the extended state predictor observer (ESPO) integrated with the delay-based ADRC inside the proposed controller method. Thus, the proposed controller can predict the unknown system dynamics generated during the delay and compensate for these dy-namics via disturbance rejection under time-delay control. This approach uses the optimization mechanism to determine controller parameters, where the genetic algorithm (GA) is employed with the integral of time-weighted absolute error (ITAE) as the fitness function. The proposed controller is validated by controlling second-order systems with time delay. Type 0, Type 1, and Type 2 sys-tems are considered as the controlled plants, with disturbances (unknown dynamics due to delay and external disturbance), along with measurement noise present. The proposed controller method is compared with state-of-the-art methods, such as the modified time-delay-based ADRC method and the ESPO-based controller method. The findings indicate that the method proposed in this pa-per outperforms its existing competitors by compensating for the dynamics during the time delay and shows robust behaviour, improved disturbance rejection, and a fair extent of resilience to noise.

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Section: Conclusion and Future Recommendationsmentioning

confidence: 99%

Predictive Extended State Observer-Based Active Disturbance Rejection Control for Systems with Time Delay

Nahri

Wyk

2023

Machines

Self Cite

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“…These systems engage tactors (e.g., piezoelectric actuators) to stimulate the skin. With the development of technology (e.g., miniaturized software and hardware), modern haptics studies are exploring further into the science and technology of applications related to information transfer (IT) [9,10] and object manipulation [11] using touch, together with all features of manual exploration by smart machines, humans, as well as the human-machine interactions, under virtual, networked, teleoperated, or real settings [12,13].…”

Section: Introductionmentioning

confidence: 99%

A Study of Cutaneous Perception Parameters for Designing Haptic Symbols towards Information Transfer

Nyasulu

Steyn

et al. 2021

Electronics

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Vibrotactile displays can substitute for sensory channels of individuals experiencing temporary or permanent impairments in balance, vision, or hearing, and can enhance the user experience in professional or entertainment situations. This massive range of potential uses necessitates primary research on human vibrotactile perception. One leading aspect to consider when developing such displays is how to develop haptic patterns or symbols to represent a concept. In most settings, individual patterns are sorted as alphabets of haptic symbols which formulate tactons. Tactons are structured and perceivable tactile patterns (i.e., messages) that transfer information to users by employing the sense of touch. Hence, haptic patterns are critical when designing vibrotactile displays, as they not only affect the rate of information transfer but also determine the design of the displays (e.g., the number and the placement of tactors engaged) and how the information is encoded to achieve separability. Due to this significance, this paper presents an overview study on the cutaneous perception parameters (i.e., intensity, loci, frequency, duration, illusions, and combinations of these) for designing haptic symbols to identify mutual best-practices and knowledge gaps for future work. The study also provides developers from different scientific backgrounds with access to complex notions when engaging this specialized topic (i.e., the use of cutaneous perception parameters towards information transfer). Finally, it offers recommendations on defining which parameters to engage for a specific task or pattern.

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A Review on Haptic Bilateral Teleoperation Systems

Nahri

Wyk

2021

J Intell Robot Syst

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Haptic System Interface Design and Modelling for Bilateral Teleoperation Systems

Cited by 5 publications

References 19 publications

Predictive Extended State Observer-Based Active Disturbance Rejection Control for Systems with Time Delay

Predictive Extended State Observer-Based Active Disturbance Rejection Control for Systems with Time Delay

A Study of Cutaneous Perception Parameters for Designing Haptic Symbols towards Information Transfer

A Review on Haptic Bilateral Teleoperation Systems

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