Optimal interface controller design for haptic system

Abstract

Haptic technology is the future oriented technology having wide applications in various field from medical, military and pilot training to video games and smartphones. In medical, it can prove a major asset for training the surgeon. The key performance issues in a haptic system are stability and transparency. This paper presents the design of haptic interface controller (HIC) for a 1-DOF haptic system designed to be used by surgical practitioners. The designed controller emphasizes on stability and transparency under the presence of uncertainty and delay. The optimal parameter of HIC has been selected using Genetic Algorithm (GA) and modified Particle Swarm Optimization (m-PSO). The performance of the designed controller is evaluated in terms of performance measure and compared with the conventional tuning method.

Sliding mode control design for haptic system with vibration mode

“…The critical stability of haptic system depends on many factors such as uncertainty, delay, internal vibration modes, human operator etc. [Kumar and Ohri, 2020c] In literature, various author have worked on the stability of haptic system and designed the suitable controller to address these issues. In [Gil et al, 2004] Gil et.…”