Obstacle avoidance using haptics and a laser rangefinder

Ahlmark, Daniel Innala; Fredriksson, Håkan; Hyyppä, Kalevi

doi:10.1109/arso.2013.6705509

Cited by 11 publications

(6 citation statements)

References 16 publications

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“…Where x is end-effector position and orientation; q is the set of joint angles; J is the Jacobian matrix. Let's define as in (10), (11) 2), ( 3) and ( 4). Applying formula of…”

Section: 𝑥 = 𝐽𝑞mentioning

confidence: 99%

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Position control for haptic device based on discrete-time proportional integral derivative controller

Tan

Dang

Dai³

et al. 2022

IJECE

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Haptic devices had known as advanced technology with the goal is creating the experiences of touch by applying forces and motions to the operator based on force feedback. Especially in unmanned aerial vehicle (UAV) applications, the position of the end-effector Falcon haptic sets the velocity command for the UAV. And the operator can feel the experience vibration of the vehicle as to the acceleration or collision with other objects through a forces feedback to the haptic device. In some emergency cases, the haptic can report to the user the dangerous situation of the UAV by changing the position of the end-effector which is be obtained by changing the angle of the motor using the inverse kinematic equation. But this solution may not accurate due to the disturbance of the system. Therefore, we proposed a position controller for the haptic based on a discrete-time proportional integral derivative (PID) controller. A Novint Falcon haptic is used to demonstrate our proposal. From hardware parameters, a Jacobian matrix is calculated, which combines with the force output from the PID controller to make the torque for the motors of the haptic. The experiment was shown that the PID has high accuracy and a small error position.

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“…Where x is end-effector position and orientation; q is the set of joint angles; J is the Jacobian matrix. Let's define as in (10), (11) 2), ( 3) and ( 4). Applying formula of…”

Section: 𝑥 = 𝐽𝑞mentioning

confidence: 99%

“…The realistic force feedback in cardiac surgery [8], [9]. Falcon haptic also integrated with a laser sensor to applied in a wheelchair with the purpose is support blind people [10], and the nuclear industry [11]. For some applications used the haptic to make feedback force to the user to help avoid obstacles is as in [12], [13].…”

Section: Introductionmentioning

confidence: 99%

Position control for haptic device based on discrete-time proportional integral derivative controller

Tan

Dang

Dai³

et al. 2022

IJECE

View full text Add to dashboard Cite

show abstract

“…These interfaces have been used primarily for surgical simulations, but are more and more used for virtual reality applications and gaming. The Virtual White Cane (Innala Ahlmark et al, 2013) used such a haptic interface to convey spatial information. The system was mounted on a wheelchair and used a laser rangefinder to obtain range data in a horizontal plane of 270°centred in the forward direction.…”

Section: Haptic Feedbackmentioning

confidence: 99%

Presentation of spatial information in navigation aids for the visually impaired

Ahlmark

Hyyppä

2015

Journal of Assistive Technologies

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Purpose – The purpose of this paper is to present some guidelines on how different means of information presentation can be used when conveying spatial information non-visually. The aim is to further the understanding of the qualities navigation aids for visually impaired individuals should possess. Design/methodology/approach – A background in non-visual spatial perception is provided, and existing commercial and non-commercial navigation aids are examined from a user interaction perspective, based on how individuals with a visual impairment perceive and understand space. Findings – The discussions on non-visual spatial perception and navigation aids lead to some user interaction design suggestions. Originality/value – This paper examines navigation aids from the perspective of non-visual spatial perception. The presented design suggestions can serve as basic guidelines for the design of such solutions.

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“…The laptop that runs the software also displays a graphical representation of the model and shows the current probing position (the grip of the haptic interface) as a white sphere. More information about the system itself can be found in an earlier article (Innala Ahlmark et al, 2013). A hand-held version is currently being developed.…”

Section: Introductionmentioning

confidence: 99%

An initial field trial of a haptic navigation system for persons with a visual impairment

Ahlmark

Prellwitz

Röding

et al. 2015

Journal of Assistive Technologies

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Purpose – The purpose of this paper is to describe conceptions of feasibility of a haptic navigation system for persons with a visual impairment (VI). Design/methodology/approach – Six persons with a VI who were white cane users were tasked with traversing a predetermined route in a corridor environment using the haptic navigation system. To see whether white cane experience translated to using the system, the participants received no prior training. The procedures were video-recorded, and the participants were interviewed about their conceptions of using the system. The interviews were analyzed using content analysis, where inductively generated codes that emerged from the data were clustered together and formulated into categories. Findings – The participants quickly figured out how to use the system, and soon adopted their own usage technique. Despite this, locating objects was difficult. The interviews highlighted the desire to be able to feel at a distance, with several scenarios presented to illustrate current problems. The participants noted that their previous white cane experience helped, but that it nevertheless would take a lot of practice to master using this system. The potential for the device to increase security in unfamiliar environments was mentioned. Practical problems with the prototype were also discussed, notably the lack of auditory feedback. Originality/value – One novel aspect of this field trial is the way it was carried out. Prior training was intentionally not provided, which means that the findings reflect immediate user experiences. The findings confirm the value of being able to perceive things beyond the range of the white cane; at the same time, the participants expressed concerns about that ability. Another key feature is that the prototype should be seen as a navigation aid rather than an obstacle avoidance device, despite the interaction similarities with the white cane. As such, the intent is not to replace the white cane as a primary means of detecting obstacles.

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Obstacle avoidance using haptics and a laser rangefinder

Cited by 11 publications

References 16 publications

Position control for haptic device based on discrete-time proportional integral derivative controller

Position control for haptic device based on discrete-time proportional integral derivative controller

Presentation of spatial information in navigation aids for the visually impaired

An initial field trial of a haptic navigation system for persons with a visual impairment

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