Article

Haptic display of realistic tool contact via dynamically compensated control of a dedicated actuator

Authors:

William McMahan,

Katherine J. KuchenbeckerAuthors Info & Claims

IROS'09: Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

Pages 3170 - 3177

Published: 10 October 2009 Publication History

Abstract

High frequency contact accelerations convey important information that the vast majority of haptic interfaces cannot render. Building on prior work, we present an approach to haptic interface design that uses a dedicated linear voice coil actuator and a dynamic system model to allow the user to feel these signals. This approach was tested through use in a bilateral teleoperation experiment where a user explored three textured surfaces under three different acceleration control architectures: none, constant gain, and dynamic compensation. The controllers that use the dedicated actuator vastly outperform traditional position-position control at conveying realistic contact accelerations. Analysis of root mean square error, linear regression, and discrete Fourier transforms of the acceleration data also indicate a slight performance benefit for dynamic compensation over constant gain.

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Cited By

Ghasemloonia ABaxandall SZareinia KLui JDort JSutherland GChan S(2016)Evaluation of haptic interfaces for simulation of drill vibration in virtual temporal bone surgeryComputers in Biology and Medicine10.1016/j.compbiomed.2016.09.00578:C(9-17)Online publication date: 1-Nov-2016
https://dl.acm.org/doi/10.1016/j.compbiomed.2016.09.005
Takeuchi YKamuro SMinamizawa KTachi SRICHIR S(2012)Haptic duplicatorProceedings of the 2012 Virtual Reality International Conference10.1145/2331714.2331749(1-2)Online publication date: 28-Mar-2012
https://dl.acm.org/doi/10.1145/2331714.2331749
McMahan WKuchenbecker K(2012)Spectral subtraction of robot motion noise for improved event detection in tactile acceleration signalsProceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I10.1007/978-3-642-31401-8_30(326-337)Online publication date: 13-Jun-2012
https://dl.acm.org/doi/10.1007/978-3-642-31401-8_30
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cover image Guide Proceedings

IROS'09: Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

October 2009

5973 pages

ISBN:9781424438037

Sponsors

SICE: Society of Instrument and Control Engineers
RA: IEEE Robotics and Automation Society
ICROS: Institute of Control, Robotics and Systems in Korea

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IEEE Press

Publication History

Published: 10 October 2009

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Cited By

Ghasemloonia ABaxandall SZareinia KLui JDort JSutherland GChan S(2016)Evaluation of haptic interfaces for simulation of drill vibration in virtual temporal bone surgeryComputers in Biology and Medicine10.1016/j.compbiomed.2016.09.00578:C(9-17)Online publication date: 1-Nov-2016
https://dl.acm.org/doi/10.1016/j.compbiomed.2016.09.005
Takeuchi YKamuro SMinamizawa KTachi SRICHIR S(2012)Haptic duplicatorProceedings of the 2012 Virtual Reality International Conference10.1145/2331714.2331749(1-2)Online publication date: 28-Mar-2012
https://dl.acm.org/doi/10.1145/2331714.2331749
McMahan WKuchenbecker K(2012)Spectral subtraction of robot motion noise for improved event detection in tactile acceleration signalsProceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I10.1007/978-3-642-31401-8_30(326-337)Online publication date: 13-Jun-2012
https://dl.acm.org/doi/10.1007/978-3-642-31401-8_30
Landin NRomano JMcMahan WKuchenbecker K(2010)Dimensional reduction of high-frequency accelerations for haptic renderingProceedings of the 2010 international conference on Haptics - generating and perceiving tangible sensations: Part II10.5555/1893760.1893773(79-86)Online publication date: 8-Jul-2010
https://dl.acm.org/doi/10.5555/1893760.1893773
Kuchenbecker KGewirtz JMcMahan WStandish DMartin PBohren JMendoza PLee D(2010)VerroTouchProceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I10.5555/1884164.1884194(189-196)Online publication date: 8-Jul-2010
https://dl.acm.org/doi/10.5555/1884164.1884194
Kuchenbecker KGewirtz JMcmahan WStandish DMartin PBohren JMendoza PLee D(2010)VerroTouchProceedings, Part I, of the International Conference on Haptics: Generating and Perceiving Tangible Sensations - Volume 619110.1007/978-3-642-14064-8_28(189-196)Online publication date: 8-Jul-2010
https://dl.acm.org/doi/10.1007/978-3-642-14064-8_28

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