Departmental Papers (MEAM)

Document Type

Conference Paper

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Date of this Version



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.

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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.



Date Posted: 18 August 2010

This document has been peer reviewed.