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Improved Haptic Transparency of Bilateral Control Using Torque-Measured Magnetic Coupling

Trieu-Khang Tu, I-Haur Tsai, Jia-Yush Yen, Tsu-Chin Tsao, Mi-Ching Tsai
2021 Machines  
The integrity and transparency of a haptic feedback in a bilateral control is crucial for precise and accurate operators' sensation during human–machine interactions.  ...  Disturbance observer-based torque feedback control is designed to suppress the disturbances and tailor the haptic transparency dynamics.  ...  haptic feedback tailored for the required environment.  ... 
doi:10.3390/machines9080172 fatcat:hgrrgtkxzze6rofasrzg7be7o4

Evaluation of pseudo-haptic feedback for simulating torque: a comparison between isometric and elastic input devices

A. Paljic, J.-M. Burkhardtt, S. Coquillart
2004 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.  
Abstract In this work, we investigate whether pseudo-haptic feedback is suitable for simulating torque feedback.  ...  Evaluation of pseudo-haptic feedback for simulating torque: a comparison between isometric and elastic input devices.  ...  Ho et al. proposed a ray-based haptic rendering [12] for force and torque feedback.  ... 
doi:10.1109/haptic.2004.1287199 dblp:conf/haptics/PaljicBC04 fatcat:6lovmphd2bgnfex7xyanzvxlhq

Design of a Haptic Interface for a Gastrointestinal Endoscopy Simulation

In Sik Yu, Hyun Soo Woo, Hyoung Il Son, Woojin Ahn, Hoeryong Jung, Doo Yong Lee, Sun Young Yi
2012 Advanced Robotics  
The endoscope included in the haptic interface is supported by a folding guide to prevent the endoscope from buckling. Force feedback in each direction is provided by wire-driven mechanisms.  ...  This paper presents a new design and analysis of a haptic interface for a gastrointestinal endoscopy simulation.  ...  The second part is a rotational motion mechanism which implements the rotational motion of the endoscopy and provides a torque feedback for the rotational motion.  ... 
doi:10.1080/01691864.2012.703300 fatcat:xht6eokrnnhgbh4ltn6schedsu

Design for Manufacture of a Low-Cost Haptic Degree-Of-Freedom

Michael Mortimer, Ben Horan, Alex Stojcevski
2014 International Journal of Electronics and Electrical Engineering  
Torque feedback around the roll axis of the user-held stylus is achieved through a custom detachable stylus attachment.  ...  Haptic technology enables systems to interact has been proposed for applications across a wide variety of domains.  ...  In this typical situation the haptic device hardware is responsible for converting commanded torque to corresponding electro-mechanical feedback.  ... 
doi:10.12720/ijeee.2.2.85-89 fatcat:bcavaejfzradnptyef4pwfynqe

Towards a Driver Model to Clarify Cooperation Between Drivers and Haptic Guidance Systems

Yishen Zhao, Philippe Chevrel, Fabien Claveau, Franck Mars
2020 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)  
Direct control accounts for the driver's corrective action through direct haptic feedback.  ...  This paper aims to predict driver torque control, especially when haptic guidance is part of haptic feedback.  ...  Neuromuscular Action Neuromuscular-system modelling aims to represent two fundamental mechanisms: 1) how muscles convert the target steering-wheel angle into steering torque and 2) how haptic feedback  ... 
doi:10.1109/smc42975.2020.9283101 fatcat:pcocsdvbrnebtizzfze2pshgau

Haptic communication for manipulator tooling operations in hazardous environments

Michael S. Counsell, David P. Barnes, Matthew R. Stein
1999 Telemanipulator and Telepresence Technologies VI  
By its nature, haptic communication is not limited to presenting manipulator end-effector forces and torques.  ...  Unfortunately, completion time was the only measure of performance, hence the effect of haptic feedback on accuracy and force control was not published.  ...  ACKNOWLEDGEMENTS I wish to thank my supervisor Dave Barnes for his support during both my PhD and also my degree.  ... 
doi:10.1117/12.369287 fatcat:jsxp662lfnfktdmotochm5lwti

A high fidelity ungrounded torque feedback device: The iTorqU 2.0

Kyle N. Winfree, Jamie Gewirtz, Thomas Mather, Jonathan Fiene, Katherine J. Kuchenbecker
2009 World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems  
This paper discusses the design and operation of the iTorqU 2.0, an ungrounded, handheld torque feedback device for haptic applications.  ...  ABSTRACT This paper discusses the design and operation of the iTorqU 2.0, an ungrounded, handheld torque feedback device for haptic applications.  ...  Sensing -A fundamental requirement for any ungrounded haptic feedback device is the ability to become transparent (i.e., to produce minimal feedback forces and torques when the user is moving in free space  ... 
doi:10.1109/whc.2009.4810866 dblp:conf/haptics/WinfreeGMFK09 fatcat:kyp6hzd2xjdxlbpuppv4bhoqsi

Haptic Augmentation Towards a Smart Learning Environment: The Haptic Lever Design

Alma Guadalupe Rodriguez Ramirez, Manuel Nandayapa, Osslan Osiris Vergara Villegas, Francesco Garcia Luna
2020 IEEE Access  
The Haptic Lever is a mechanism with a sensorless torque control developed by means of a Disturbance Observer (DOB) to render forces that allow users to feel virtual phenomena.  ...  This paper presents the design of a haptic interface called the Haptic Lever, to show four force-related phenomena for haptic augmentation towards Smart Learning Environments.  ...  ACKNOWLEDGMENT The authors would like to thank the Universidad Autónoma de Ciudad Juárez (UACJ) for the support and equipment.  ... 
doi:10.1109/access.2020.2990172 fatcat:ntcda6g3xjcf5ivpn3sfudwqa4

TorqueTuner: A self contained module for designing rotary haptic force feedback for digital musical instruments

Mathias S Kirkegaard, Mathias Bredholt, Christian Frisson, Marcelo Wanderley
2020 Proceedings of the International Conference on New Interfaces for Musical Expression  
While the original goal was to simulate the haptic feedback associated with turning a knob, we found that the platform allows for further expanding interaction possibilities in application scenarios where  ...  We embedded inside TorqueTuner a collection of haptic effects (Wall, Magnet, Detents, Spring, Friction, Spin, Free) and a bi-directional interface through libmapper, a software library for making connections  ...  For acoustic instruments the haptic feedback is usually inherited directly from the excitation mechanism, and this has been imitated with synthesized force feedback in the design of virtual instrument  ... 
doi:10.5281/zenodo.4813358 fatcat:3fp64643brhrjejgsz7ve4gqum

A two-mode six-DOF motion system based on a ball-joint-like spherical motor for haptic applications

Kun Bai, Jingjing Ji, Kok-Meng Lee, Shuyou Zhang
2012 Computers and Mathematics with Applications  
A ball-joint-like spherical motor capable of offering smooth, continuous multi-DOF motion is presented as an alternative design for haptic applications.  ...  device is incorporated as an interfacing device that receives motion commands from a virtual design environment and delivers torque feedback to the designer/user.  ...  Traditional haptic devices are typically serial or parallel mechanisms driven by single-axis motors (along with external position encoders and force/torque measuring devices as feedback sensors) to achieve  ... 
doi:10.1016/j.camwa.2012.02.037 fatcat:6jwxt3ofdjd6bcsxzw55373i2e

Study on motion following with feedback force disturbance in interventional surgical robot system

Yuan Wang, Shuxiang Guo, Baofeng Gao, Weili Peng, Guangxuan Li
2016 2016 IEEE International Conference on Mechatronics and Automation  
The master side can provide haptic feedback for doctors and collect guide wire control commands from doctors.  ...  Robotic surgery system with the functions of haptic feedback and the doctor-patient separation has enormous significance for the development of NIS.  ...  exercise, so as to provide resistance F which is required for haptic feedback.  ... 
doi:10.1109/icma.2016.7558611 fatcat:dwiyzahwwnfwxlyyham4gl3eea

Design of Haptic Feedback Control for Steer-by-Wire

Tushar Chugh, Fredrik Bruzelius, Matthijs Klomp, Barys Shyrokau
2018 2018 21st International Conference on Intelligent Transportation Systems (ITSC)  
This paper illustrates a comparison of different haptic feedback control strategies; primarily focusing on open and closed-loop methods for a Force-Feedback Steer-by-Wire system.  ...  Higher bandwidth is achieved for torque controller, whereas the driver arm inertia limits the position control performance. The linear system analysis is supported by the experimental results.  ...  ACKNOWLEDGMENT The authors would like to thank Professor Bengt Jacobson from Chalmers University of Technology and Pontus Carlsson, David Dahlgren and Joakim Norrby from Volvo Car Corporation for insightful  ... 
doi:10.1109/itsc.2018.8569795 dblp:conf/itsc/ChughBKS18 fatcat:jzqkxs376ncifjuji2i5pca2t4

A Haptic Compass for Navigation

Lynette A. Jones
2017 Computer  
Users responded faster to the torque signal as torque amplitude increased, averaging 8 seconds for torques greater than 50 mNm.  ...  Figure 1 . 1 Handheld haptic compass for use as a navigation aid.  ... 
doi:10.1109/mc.2017.178 fatcat:jmjyi2w6uncmvn2ogfp2urujyu

Adaptive Haptic Feedback Steering Wheel for Driving Simulators

H. Mohellebi, A. Kheddar, S. Espie
2009 IEEE Transactions on Vehicular Technology  
We propose a method that computes haptic feedback for the steering wheel. It is best suited for low-cost, fixed-base driving simulators but can be ported to any driving simulator platform.  ...  The goal of our method is twofold. 1) It provides an efficient yet simple algorithm to model the steering mechanism using a quadripolar representation. 2) This model is used to compute the haptic feedback  ...  This paper addresses the haptic feedback issue on steering wheels for driving simulators.  ... 
doi:10.1109/tvt.2008.2004493 fatcat:5gwwfmyynbhmzbejyxbnr3zlpa

Torque Measurement of 3-DOF Haptic Master Operated by Controllable Electrorheological Fluid

Jong-Seok Oh, Seung-Bok Choi, Yang-Sub Lee
2015 Measurement Science Review  
In order to reflect the sense of an organ for a surgeon, the ER haptic master which can generate the repulsive torque of an organ is utilized as a remote controller for a surgery robot.  ...  A new type of haptic device which has pitching, rolling, and yawing motions is then designed and manufactured using a spherical joint mechanism.  ...  Experimental apparatus for torque measurement of ER haptic master.  ... 
doi:10.1515/msr-2015-0003 fatcat:v44irncwtraltix4hyl2zcs2ca
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