Hybrid Control with Multi-Contact Interactions for 6DOF Haptic Foot Platform on a Cable-Driven Locomotion Interface

Otis, Martin J.‐D.; Mokhtari, Marielle; Tremblay, C. du; Laurendeau, Denis; Rainville, F.-M. De; Gosselin, Clément

doi:10.1109/haptics.2008.4479937

Cited by 19 publications

(10 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The HapticWalker [17] provides two foot platforms connected to a stationary machine that can simulate many walking environments, such as stairs and rough ground surfaces. Otis et al [10] developed a locomotion interface allowing individuals to walk freely around a virtual environment while still remaining in the confines of the workspace.…”

Section: Foot Hapticsmentioning

confidence: 99%

Gait enhancing mobile shoe (GEMS) for rehabilitation

Groot

Decker

Reed

2009

World Haptics 2009 - Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoper

View full text Add to dashboard Cite

Individuals with certain types of central nervous system damage, such as stroke, have an asymmetric walking gait. Using a splitbelt treadmill, where each leg walks at a different speed, has been shown to help rehabilitate walking impaired individuals, but there is one distinct drawback; the corrected gait does not transfer well to walking over ground. To increase the gait transference to another environment, we designed and built a passive shoe that admits a motion similar to that felt when walking on a split-belt treadmill. Our gait enhancing mobile shoe (GEMS) alters the wearer's gait by causing one foot to move backward during the stance phase while walking over ground. No external power is required since the shoe mechanically converts the wearers downward and horizontal forces into a backward motion. This shoe would allow a patient to walk over ground while experiencing the same gait altering effects as felt on a split-belt treadmill, which should aid in transferring the corrected gait to walking in natural environments.

show abstract

Section: Foot Hapticsmentioning

confidence: 99%

Gait enhancing mobile shoe (GEMS) for rehabilitation

Groot

Decker

Reed

2009

World Haptics 2009 - Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoper

View full text Add to dashboard Cite

show abstract

“…Moreover, case 4 is still not managed. However, it is now known that the direction of the plane described by the two interfering cables can be controlled with a hybrid impedance/admittance approach by combining the developments in [8] and [14]. Currently, when case 4 is detected, the cable tensions are maintained at the T Fig.…”

Section: Mechanical Interferencementioning

confidence: 99%

“…3: 1) the testing simulator (BIST) with the safety manager; 2) the haptic rendering [8]; 3) the 4-DOF washout algorithm such as those suggested in [5,12,20]; 4) the analysis of stability [4]; 5) the cable interference management algorithm with the WrenchClosure Workspace [10]; 6) the Optimal Tension Distribution algorithm; and 7) the cable tension controllers including the motorized reels and the power amplifiers. The Wrench-Closure Workspace (WCW), defined in [2], gives the set of poses of the moving platform for which any external wrench can be balanced by positive tensions in the cables.…”

Section: Control Algorithmmentioning

confidence: 99%

“…A Cable-Driven Locomotion Interface (CDLI) has been proposed as a haptic interface to be used in applications such as training in virtual environments [8]. This CDLI is composed of two cable-driven haptic platforms (or, in the following, the cable-driven haptic interface), one for each foot, controlled with eight cables acting as mechanical transmission.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Human Safety Algorithms for a Parallel Cable-Driven Haptic Interface

Otis¹,

Comtois²,

Laurendeau³

et al. 2010

Advances in Intelligent and Soft Computing

Self Cite

View full text Add to dashboard Cite

A parallel cable-driven haptic interface is designed to allow interaction with any type of virtual object. This paper presents and analyzes computational methods for addressing the issues regarding human safety and control reliability using such an interface, thereby ensuring safe operations inside the virtual world. Four strategies are explored: sensor reliability, mechanical interference management, workspace management and human-robot interaction. This paper focuses mainly on the sensors' reliability and workspace management algorithms for a parallel cable-driven haptic interface that imposes special requirements on the control architecture design. One challenging task is to develop efficient computational algorithms for hard real-time processes included in haptic display applications which improve safety without compromising performance.

show abstract

“…An admittance control architecture for haptic rendering was developed for the CDLI in combination with the Newton Game D ynam ics™ engine as well as H3D [40] and ODE [19] software for collision detection and force com putation [15]. This control scheme, combined with the CDLI simulation were used to generate the forces and torques necessary to deliver the feeling of walking on flat ground.…”

Section: Able-d Riven L Ocom Otion Interfacementioning

confidence: 99%

Haptic foot interactions on a 4-link planar rehabilitation robot

Klumper¹

View full text Add to dashboard Cite

Hybrid Control with Multi-Contact Interactions for 6DOF Haptic Foot Platform on a Cable-Driven Locomotion Interface

Cited by 19 publications

References 16 publications

Gait enhancing mobile shoe (GEMS) for rehabilitation

Gait enhancing mobile shoe (GEMS) for rehabilitation

Human Safety Algorithms for a Parallel Cable-Driven Haptic Interface

Haptic foot interactions on a 4-link planar rehabilitation robot

Contact Info

Product

Resources

About