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
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Official URL: https://ieeexplore.ieee.org/abstract/document/8725931
Abstract
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/ | |||||||||||||||||||||
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Document Type: | Article | |||||||||||||||||||||
Title: | Enhancing the Rate-Hardness of Haptic Interaction: Successive Force Augmentation Approach | |||||||||||||||||||||
Authors: |
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Date: | May 2019 | |||||||||||||||||||||
Journal or Publication Title: | IEEE Transactions on Industrial Electronics | |||||||||||||||||||||
Refereed publication: | Yes | |||||||||||||||||||||
Open Access: | Yes | |||||||||||||||||||||
Gold Open Access: | No | |||||||||||||||||||||
In SCOPUS: | Yes | |||||||||||||||||||||
In ISI Web of Science: | Yes | |||||||||||||||||||||
Volume: | 67 | |||||||||||||||||||||
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 | |||||||||||||||||||||
ISSN: | 0278-0046 | |||||||||||||||||||||
Status: | Published | |||||||||||||||||||||
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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