Dynamic simulation of virtual mechanisms with haptic feedback using industrial robotics equipment

Clover, C.L.; Luecke, Greg R.; Troy, James J.; McNeely, William A.

doi:10.1109/robot.1997.620121

Cited by 36 publications

(19 citation statements)

References 13 publications

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“…We can also observe that SDVAC-C did not outperform SDVAC. Due to the complexity of human body dynamics during walking as well as the heuristic nature of SDVAC-C in (22), it is a challenging task to quantitatively understand this phenomenon. However, empirically, the human users reported that SDVAC-C was "too active" and prone to "overshoot".…”

Section: Humanmentioning

confidence: 99%

Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot

Wang¹,

Patota²,

Buondonno³

et al. 2015

Int. j. adv. robot. syst.

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Admittance controllers have been widely implemented in physical human/robot interaction (pHRI). The stability criteria and the parameter adaptation methods for admittance control have been well-studied. However, the established methods have mainly focused on human/ manipulator interaction, and cannot be directly extended to mobile robot-based pHRI, in which the nonlinearity cannot be cancelled by feedback linearizations and the measurements of the relative human/robot position and orientation are usually lacking. In this paper, we study the pHRI between a human user and a mobile robot under admittance control. We develop a robotic system which can measure the relative chest/ankle positions of the human user with respect to the robot. Using the measured human position, a human frame admittance controller is proposed to remove the nonlinearity in the system dynamics. Based on the human-frame admittance control, a stability criterion is derived. By using a human arm stiffness estimator along with the derived stability criterion, a stiffness-based variable admittance controller is designed. The effectiveness of the proposed methods in improving the pHRI performance is tested and supported by simulations and experimental results.

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Section: Humanmentioning

confidence: 99%

Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot

Wang¹,

Patota²,

Buondonno³

et al. 2015

Int. j. adv. robot. syst.

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“…Even industrial robots fitted with a force sensor, can be used as haptic devices. (11) However, the performance in rendering low mass is typically not good as it requires high accelerations and speed from the device which can not always be realized. A nice example of an admittance controlled commercially available haptic device is the HapticMaster.…”

Section: Journal Of Advanced Mechanical Design Systems and Manufactmentioning

confidence: 99%

Development of SCARA-Type Haptic Device for Electrostatic Non-Contact Handling System

West

Yamamoto

Burns

et al. 2008

JAMDSM

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This paper describes the development of a SCARA-type haptic device, which will be used to assist a human operator in non-contact object handling of silicon wafers using electrostatic levitation. The device has three degrees of freedom, of which only one (vertical) is actively controlled. By utilizing the admittance control paradigm, a high vertical stiffness and a high output force can be achieved. These properties are necessary for the intended application of non-contact object handling to prevent instabilities (induced by the human motion) of the electrostatic levitation system. As the nominal air gap between object and electrostatic levitator is in the order of 350 micrometer, with an allowable position error of about 150 micrometer, instability can easily occur if there is no haptic assistance, especially in the picking up or placing process. The developed SCARA-type haptic device has a mechanical stiffness of 51 N/mm for the vertical direction when it is in the weakest posture, which is sufficient for the noncontact handling task. The design and performance of the haptic device for the active vertical degree of freedom are described in this paper.

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“…However, the effect of these dynamics can be significantly reduced through the use of active control, enabling the successful implementation of manipulators in a variety of applications. Some examples of this approach include manipulators used as driving and flight simulators [17][18] and mass simulators for extravehicular training [19].…”

Section: Large-scale Hapticsmentioning

confidence: 99%

Telerehabilitation robotics: Bright lights, big future?

Carignan

Krebs²

2006

JRRD

120

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Abstract-The potential for remote diagnosis and treatment over the Internet using robotics is now a reality. The state of the art is exemplified by several Internet applications, and we explore the current trends in developing new systems. We review the technical challenges that lie ahead, along with some potential solutions. Some promising results for a new bilateral system involving two InMotion2 robots are presented. Finally, we discuss the future direction and commercial outlook for rehabilitation robots over the next 15 years.

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Dynamic simulation of virtual mechanisms with haptic feedback using industrial robotics equipment

Cited by 36 publications

References 13 publications

Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot

Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot

Development of SCARA-Type Haptic Device for Electrostatic Non-Contact Handling System

Telerehabilitation robotics: Bright lights, big future?

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