Haptic simulation and synthesis of mechanisms

Paris, Jascha Norman; Archut, Jan-Lukas; Hüsing, Mathias; Corves, Burkhard

doi:10.1016/j.mechmachtheory.2019.103674

Cited by 3 publications

(2 citation statements)

References 17 publications

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“…Moreover, proposing a haptic device in which a multibody model is computed in real time could embrace multiple other applications [29][30][31][32][33]. That being said, dealing with a complex dynamical model such as that of a piano action within a haptic keyboard represents a challenging and concrete application of this multibody-based approach.…”

Section: Discussionmentioning

confidence: 99%

Multibody-Based Piano Action: Validation of a Haptic Key

2020

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A piano key prototype actuated by a custom-made linear actuator is proposed to enhance the touch of digital pianos by reproducing the force feedback of an acoustic piano action. This paper presents the design and the validation of the haptic device. The approach exploits a multibody model to compute the action dynamics and the corresponding force on the key in real time. More specifically, a grand piano model that includes the five action bodies, its geometry and the specific force laws, is computed in the haptic device. A presizing step along with Finite Element Method (FEM) analysis produced an especially made actuator satisfying the design requirements, in particular the highly dynamic nature of the force to be transmitted. Force peaks, up to 50 (N) in less than 20 (ms), are reachable with low power consumption. Compared to previous solutions: (i) the key physical characteristics are preserved; (ii) the feedback is based on a real-time multibody model that is easily configurable and interchangeable; (iii) an experimental validation of the actuator within the prototype is developed and demonstrates its feasibility. The results confirm that the voice coil can produce suitable haptic feedback. In particular, rendering a grand piano action within the device shows promising haptic force profiles.

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Section: Discussionmentioning

confidence: 99%

Multibody-Based Piano Action: Validation of a Haptic Key

2020

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“…Despite all these researches, the real-time multibody models are still rarely embedded in haptic devices, the goal being to improve the feedback for “rigid–rigid interaction” type applications, which only represent one of the multiple components of the Haptic rendering discipline [ 26 ]. Haptic devices often consider simplified dynamics to synthesize the haptic feedback, for example in the REPLALINK prototype [ 27 ] or in a piano action model [ 28 ] (see also Section 5.1 ). Advanced haptic devices embedding a full multibody model begin to appear in the literature [ 29 , 30 ], exhibiting promising prospects thanks to the conjoint evolution of modeling, computational and technological tools.…”

Section: State-of-the-artmentioning

confidence: 99%

Haptic Devices Based on Real-Time Dynamic Models of Multibody Systems

Docquier

Timmermans

Paul

2021

Sensors

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Multibody modeling of mechanical systems can be applied to various applications. Human-in-the-loop interfaces represent a growing research field, for which increasingly more devices include a dynamic multibody model to emulate the system physics in real-time. In this scope, reliable and highly dynamic sensors, to both validate those models and to measure in real-time the physical system behavior, have become crucial. In this paper, a multibody modeling approach in relative coordinates is proposed, based on symbolic equations of the physical system. The model is running in a ROS environment, which interacts with sensors and actuators. Two real-time applications with haptic feedback are presented: a piano key and a car simulator. In the present work, several sensors are used to characterize and validate the multibody model, but also to measure the system kinematics and dynamics within the human-in-the-loop process, and to ultimately validate the haptic device behavior. Experimental results for both developed devices confirm the interest of an embedded multibody model to enhance the haptic feedback performances. Besides, model parameters variations during the experiments illustrate the infinite possibilities that such model-based configurable haptic devices can offer.

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Aportes a la síntesis de mecanismos de Lung-Wen Tsai, contextualización contemporánea y propuesta de aplicaciones

Osejo-Bucheli¹

2022

rev.digit.educ.ing

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Resumen— Introducción: Las ciencias aplicadas, y las artes aplicadas estudian diseño de mecanismos en diferentes niveles de complejidad. Se ha avanzado en la literatura académica metodológicamente, una de estas orientaciones del diseño, es la síntesis de mecanismos, la cual permite avanzar en un proceso de diseño sistemático. Problema: se carece de un texto en castellano que presente los métodos de síntesis de mecanismos para el diseño. Existen textos que abarcan el tema de manera demasiado extensa como para presentarla rápidamente a un profesional en formación. Objetivo: traducir de forma fidedigna y sucinta los tipos de síntesis que compiló el profesor Tsai, y presentarlas en un artículo que cite también los desarrollos en el tema posteriormente a la publicación seminal de Tsai. Metodología: se usa la exegesis textual y el análisis documental para construir una propuesta completa y sistemática. Resultados: un artículo que contiene procesos para síntesis de mecanismos necesarios para el diseño, sucintos, completos y con referencias actualizadas. Conclusión: los métodos de síntesis de mecanismos son de aplicación intuitiva y no requieren formación ni preparación previa para aplicarla. Este documento es suficiente para facilitar a los profesionales en formación la aplicación de la síntesis de mecanismos. Originalidad: si bien el documento es una traducción, el artículo da respuesta a una necesidad epistemológica en las áreas de conocimiento antes citadas, con alusiones a publicaciones actualizadas. limitaciones: la síntesis de mecanismos es útil para el diseño, existen otros procesos mentales diferentes que no se tratan aquí.

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Haptic simulation and synthesis of mechanisms

Cited by 3 publications

References 17 publications

Multibody-Based Piano Action: Validation of a Haptic Key

Multibody-Based Piano Action: Validation of a Haptic Key

Haptic Devices Based on Real-Time Dynamic Models of Multibody Systems

Aportes a la síntesis de mecanismos de Lung-Wen Tsai, contextualización contemporánea y propuesta de aplicaciones

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