Control aspects of a robotic haptic interface for kinesthetic knee joint simulation

Hoogen, J.P.M. van den; Riener, Robert; Schmidt, G.

doi:10.1016/s0967-0661(02)00085-0

Cited by 17 publications

(10 citation statements)

References 15 publications

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“…For haptic realisation of tasks requiring a large workspace and high force capability often off-the-shelf industrial robots are used [11]. These devices are, however, not optimised for interactions with humans.…”

Section: State Of the Artmentioning

confidence: 99%

“…The combination of multiple optimisation criteria is easily achieved by the formulation of one single composite performance index as for example by using the weighted sum Û ½ ½´Õ µ · Û ¾ ¾´Õ µ · · Û Ò Ò´Õ µ (11) where Û ¼ are the weighting factors and normalised criteria values.…”

Section: Inverse Kinematicsmentioning

confidence: 99%

“…All experiments have been conducted applying Pseudoinverse control without optimisation of a side criterion (nonoptimised solution), see (3), and Pseudoinverse control optimising the translational and rotational manipulability index (optimised solution), see (6), (10), and (11). A violation of joint velocity constraints has been avoided by keeping the step length « within the bounds given in (15) and (16).…”

Section: Description Of Experimentsmentioning

confidence: 99%

See 2 more Smart Citations

VISHARD10, a novel hyper-redundant haptic interface

Ueberle

Mock

Buss

2004

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedi

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This paper presents and discusses the design of a novel hyper-redundant haptic interface with 10 degrees-offreedom (DOF). The use of additional joints allows a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical simulations of standard methods for inverse kinematics resolution, namely pseudo inverse control and the projection of some side criterion on the nullspace of the Jacobian are compared and evaluated.

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Section: State Of the Artmentioning

confidence: 99%

Section: Inverse Kinematicsmentioning

confidence: 99%

Section: Description Of Experimentsmentioning

confidence: 99%

See 1 more Smart Citation

VISHARD10, a novel hyper-redundant haptic interface

Ueberle

Mock

Buss

2004

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedi

View full text Add to dashboard Cite

show abstract

“…The robot was equipped with a novel, real-time, Linux-based controller developed in our group (HOOGEN et al, 2002). it runs on a Pentium IV with 1.9 GHz.…”

Section: Control Hardwarementioning

confidence: 99%

Optimised robot-based system for the exploration of elastic joint properties

Frey

Burgkart

Regenfelder

et al. 2004

Med. Biol. Eng. Comput.

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Numerous publications provide measured biomechanical data relating to synovial joints. However, in general, they do not reflect the non-linear elastic joint properties in detail or do not consider all degrees of freedom (DOF), or the quantity of data is sparse. To perform more comprehensive, extended measurements of elastic joint properties, an optimised robot-based approach was developed. The basis was an industrial, high-precision robot that was capable of applying loads to the joint and measuring the joint displacement in 6 DOF. The system was equipped with novel, custom-made control hardware. In contrast to the commonly used sampling rates that are below 100 Hz, a rate of 4 kHz was realised for each DOF. This made it possible to implement advanced, highly dynamic, quasi-continuous closed-loop controllers. Thus oscillations of the robot were avoided, and measurements were speeded up. The stiffness of the entire system was greater than 44 kNm(-1) and 22 Nm deg(-1), and the maximum difference between two successive measurements was less than 0.5 deg. A sophisticated CT-based referencing routine facilitated the matching of kinematic data with the individual anatomy of the tested joint. The detailed detection of the elastic varus-valgus properties of a human knee joint is described, and the need for high spatial resolution is demonstrated.

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“…In recent years also ''touchable'' systems were developed, which give haptic feedback for the student or trainee. For the training of orthopaedic staff the knee-simulator 44 was developed. Based on the same system also a gynaecologic simulator was developed.…”

mentioning

confidence: 99%