Singh, Harsimran und Janetzko, Dominik und Jafari, Aghil und Weber, Bernhard und Lee, Chan-Il und Ryu, Jee-Hwan (2019) Enhancing the Rate-Hardness of Haptic Interaction: Successive Force Augmentation Approach. IEEE Transactions on Industrial Electronics, 67 (1), Seiten 809-819. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TIE.2019.2918500. ISSN 0278-0046.
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Offizielle URL: https://ieeexplore.ieee.org/abstract/document/8725931
Kurzfassung
There have been numerous approaches that have been proposed to enlarge the impedance range of haptic interaction while maintaining stability. However, enhancing the rate-hardness of haptic interaction while maintaining stability is still a challenging issue. The actual perceived rate-hardness has been much lower than what the users expect to feel. In this paper, we propose the successive force augmentation (SFA) approach, which increases the impedance range by adding a feed-forward force offset to the state-dependent feedback force rendered using a low stiffness value. This allows the proposed approach to display stiffness of up to 10 N/mm with Phantom Premium 1.5. It was possible to further enhance the rate-hardness by using the original value of virtual environment stiffness for feedback force calculation during the transient response followed by normal SFA. Experimental evaluation for multi-DoF virtual environment exhibited a much higher displayed stiffness and rate-hardness compared to conventional approaches. Two user studies revealed that the increase of rate-hardness due to SFA allowed the participants to have a faster reaction time to an unexpected collision with a virtual wall and accurately discriminate between four virtual walls of different stiffness.
elib-URL des Eintrags: | https://elib.dlr.de/132728/ | ||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||
Titel: | Enhancing the Rate-Hardness of Haptic Interaction: Successive Force Augmentation Approach | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | Mai 2019 | ||||||||||||||||||||||||||||
Erschienen in: | IEEE Transactions on Industrial Electronics | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
Band: | 67 | ||||||||||||||||||||||||||||
DOI: | 10.1109/TIE.2019.2918500 | ||||||||||||||||||||||||||||
Seitenbereich: | Seiten 809-819 | ||||||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||
Name der Reihe: | IEEE Transactions on Industrial Electronics | ||||||||||||||||||||||||||||
ISSN: | 0278-0046 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | Haptics and haptic interface, passivitycriterion, physical human–robot interaction, rate-hardness. | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Telerobotik (alt) | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||||||
Hinterlegt von: | Singh, Harsimran | ||||||||||||||||||||||||||||
Hinterlegt am: | 13 Dez 2019 10:26 | ||||||||||||||||||||||||||||
Letzte Änderung: | 31 Okt 2023 14:40 |
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