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Enhancing the Rate-Hardness of Haptic Interaction: Successive Force Augmentation Approach

Singh, Harsimran and Janetzko, Dominik and Jafari, Aghil and Weber, Bernhard and Lee, Chan-Il and Ryu, Jee-Hwan (2019) Enhancing the Rate-Hardness of Haptic Interaction: Successive Force Augmentation Approach. IEEE Transactions on Industrial Electronics, 67 (1), pp. 809-819. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/TIE.2019.2918500 ISSN 0278-0046

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/abstract/document/8725931


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.

Item URL in elib:https://elib.dlr.de/132728/
Document Type:Article
Title:Enhancing the Rate-Hardness of Haptic Interaction: Successive Force Augmentation Approach
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Singh, Harsimranharsimran.singh (at) dlr.dehttps://orcid.org/0000-0002-6735-9945
Weber, BernhardBernhard.Weber (at) dlr.deUNSPECIFIED
Ryu, Jee-Hwanjhryu (at) kaist.ac.krUNSPECIFIED
Date:May 2019
Journal or Publication Title:IEEE Transactions on Industrial Electronics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/TIE.2019.2918500
Page Range:pp. 809-819
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:IEEE Transactions on Industrial Electronics
Keywords:Haptics and haptic interface, passivitycriterion, physical human–robot interaction, rate-hardness.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Telerobotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Singh, Harsimran
Deposited On:13 Dec 2019 10:26
Last Modified:14 Feb 2020 09:20

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