Force-feedback interaction with a neural oscillator model: for shared human-robot control of a virtual percussion instrument

Abstract

A study on force-feedback interaction with a model of a neural oscillator provides insight into enhanced humanrobot interactions for controlling musical sound. We provide differential equations and discrete-time computable equations for the core oscillator model developed by Edward Large for simulating rhythm perception. Using a mechanical analog parameterization, we derive a force-feedback model structure that enables a human to share control of a virtual percussion instrument with a "robotic" neural oscillator. A formal human subject test indicated that strong coupling (STRNG) between the force-feedback device and the neural oscillator provided subjects with the best control. Overall, the human subjects predominantly found the interaction to be "enjoyable" and "fun" or "entertaining." However, there were indications that some subjects preferred a medium-strength coupling (MED), presumably because they were unaccustomed to such strong force-feedback interaction with an external agent. With related models, test subjects performed better when they could synchronize their input in phase with a dominant sensory feedback modality. In contrast, subjects tended to perform worse when an optimal strategy was to move the force-feedback device with a 90°phase lag. Our results suggest an extension of dynamic pattern theory to force-feedback tasks. In closing, we provide an overview of how a similar force-feedback scenario could be used in a more complex musical robotics setting.

Force sensitivity analysis and scale design of Stewart parallel manipulator

“…Among the above methods, installing the force/torque sensor is the most popular method to improve the safety of the robot. It is possible to realize human-machine collaboration by using force perception technology, [3][4][5][6] collaborative robot collision detection technology, [7][8][9] robot virtual force sensor and flexible joint technology, 10,11 collaborative robot torque control, and impedance control technology. [12][13][14]…”

Development of a haptic feedback subsystem

“…Most of them, however, have one major drawback, which is related to the nature of interaction, i.e. the user must be attached to a device at all time [1]. This continuous contact between the user and the device's stylus (or thimble) damages the user's sense of presence as it prevents the user from experiencing new tactile sensations upon contact with the virtual objects [2].…”