A Position-Control Based Approach to Haptic Rendering of Stiff Objects

Wang, Yang; Feng, Lei; Andersson, Kjell

doi:10.1109/toh.2020.3044682

Cited by 5 publications

(12 citation statements)

References 26 publications

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“…So far, we revisit the approach introduced in [34] and the results with a single OP (SOP) in that paper are quite satisfying. However, we also noticed that the performance drops when the tool moves away from the SOP, which is the origin of the workspace.…”

Section: Gain Scheduling With Multiple Opsmentioning

confidence: 91%

“…To maintain consistency with the previous findings in [34], minimal stiffness K min along the QT is chosen for evaluating Scenario 1 and average stiffness over time K avg for Scenario 2 for each simulation.…”

Section: Post-processing and Performance Metricsmentioning

confidence: 95%

“…In this section, we first introduce the test case device for the paper and then, the proposed approach is recapped as it originates from previous work [33,34].…”

Section: An Approach Using Position Controllermentioning

confidence: 99%

“…Our approach introduces a new way to compute the rendering force [34]. A stiff object behaves similarly to a position controller in the sense that it should keep the tool on the surface of the object with no penetration.…”

Section: Recap Of the Approachmentioning

confidence: 99%

“…The new controller is named multi-OP position controller (MOPPC) to highlight the usage of multiple operating points (MOPs). As a comparison, we include the proposed controller in [34] and rename it to SOPPC to emphasize that it is generated from a control plant using a single OP. The baseline controller in that paper is also included as a comparison and renamed as open-loop impedance-type force controller (OLIFC).…”

Section: N}mentioning

confidence: 99%

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A Joint-space Position Control-based Approach to Haptic Rendering of Stiff Objects using Gain Scheduling

Wang

Feng

Andersson

2021

J Intell Robot Syst

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Haptic rendering often deals with interactions between stiff objects. A traditional way of force computing models the interaction using a spring-damper system, which suffers from stability issues when the desired stiffness is high. Instead of computing a force, this paper continues to explore shifting the focus to rendering an interaction with no penetration, which can be accomplished by using a position controller in the joint space using the encoders as feedback directly. In order to make this approach easily adaptable to any device, an alternative way to model the dynamics of the device is also presented, which is to linearize a detailed simulation model. As a family of linearized models is used to approximate the full dynamic model of the system, it is important to have a smooth transition between multiple sets of controller gains generated based on these models. Gain scheduling is introduced to improve the performance in certain areas and a comparison among three controllers is conducted in a simulation setup.

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Section: Gain Scheduling With Multiple Opsmentioning

confidence: 91%

Section: Post-processing and Performance Metricsmentioning

confidence: 95%

“…In this section, we first introduce the test case device for the paper and then, the proposed approach is recapped as it originates from previous work [33,34].…”

Section: An Approach Using Position Controllermentioning

confidence: 99%

Section: Recap Of the Approachmentioning

confidence: 99%

Section: N}mentioning

confidence: 99%

See 3 more Smart Citations

A Joint-space Position Control-based Approach to Haptic Rendering of Stiff Objects using Gain Scheduling

Wang

Feng

Andersson

2021

J Intell Robot Syst

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Elevating haptic interfaces: Dual‐rate sampling and field programmable gate array implementation for multi‐degree‐of‐freedom performance enhancement

Koul,

Khosa,

Ahmad

2024

Int Journal of Mech Sys Dyn

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In this work, our primary focus centered on exploring the adaptability of the dual‐rate sampling scheme proposed earlier to enhance the performance of multi‐degree‐of‐freedom (multi‐DOF) impedance‐based haptic interfaces. The scheme employed independent sampling rates in a haptics controller, effectively mitigating the issue of reduced Z‐width at higher sampling rates. A key aspect of our investigation was the intricate implementation of the dual‐rate sampling scheme on a field programmable gate array (FPGA). This implementation on a logic hardware FPGA was challenging and led to the effective comparison of the uniform‐rate and dual‐rate sampling schemes of the multi‐DOF haptic controller. We used an in‐house developed two‐DOF pantograph as the haptic interface and an FPGA for implementing the controller strategy. FPGA‐based implementation presented challenges that were vital in testing controller performances at higher sampling rates. Virtual wall experiments were conducted to determine the stable and unstable interactions with the virtual wall. To complement the experimental results, we simulated the haptics force law for multi‐DOF system on Simulink/MATLAB. Notably, the dual‐rate sampling approach maintained the Z‐width of the two‐DOF haptic interface, even at higher controller sampling rates, distinguishing it from the conventional two‐DOF uniform‐rate control scheme. For example, employing a dual‐rate sampling combination of 20–2 kHz consistently ensured the stable rendering of a maximum virtual stiffness of approximately 700 N/mm and maintained a reliable virtual damping range spanning from 0 to 5 Ns/mm. In contrast, the 20 kHz uniform‐rate sampling approach failed to ensure interface stability in the presence of virtual damping, ultimately resulting in the unsuccessful implementation of any virtual stiffness at higher sampling rates. This work, therefore, establishes the potential of dual‐rate sampling in the realm of haptic technology, with practical applications in multi‐DOF systems.

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Human-centered design of a wearable kinesthetic haptic device for surgical teleoperation

Shabani

Nisar²,

Matsuno³

2022

Artif Life Robotics

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A Position-Control Based Approach to Haptic Rendering of Stiff Objects

Cited by 5 publications

References 26 publications

A Joint-space Position Control-based Approach to Haptic Rendering of Stiff Objects using Gain Scheduling

A Joint-space Position Control-based Approach to Haptic Rendering of Stiff Objects using Gain Scheduling

Elevating haptic interfaces: Dual‐rate sampling and field programmable gate array implementation for multi‐degree‐of‐freedom performance enhancement

Human-centered design of a wearable kinesthetic haptic device for surgical teleoperation

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