Haptic Displayof Realistic Tool Contact via Dynamically Compensated Control of a Dedicated Actuator

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Departmental Papers (MEAM)
General Robotics, Automation, Sensing and Perception Laboratory
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GRASP
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Mechanical Engineering
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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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2009-12-15
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Departmental Papers (MEAM)
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2023-05-17T03:59:03.000
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Suggested Citation: McMahan, William and Katherine J. Kuchenbecker. (2009) Haptic display of realistic tool contact via dynamically compensated control of a dedicated actuator. International Conference on Intelligent Robots and Systems, 2009. St. Louis, Missouri. October 11-15, 2009. ©2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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