NDLI: Transparency Extension in Haptic Interfaces via Adaptive Dynamics Cancellation

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Mcjunkin, Samuel John, E. Speich O’malley, Marcia K.
Copyright Year	2005
Abstract	Haptic interfaces are a class of robotic manipulators that display force feedback to enhance the realism of virtual environment displays. However, these manipulators often fail to effectively replicate the real world environment due to dynamic limitations of the manipulator itself. The ratio of the simulated to transmitted environment impedance is defined as the transparency transfer function (TTF), and can be used to quantify the effectiveness of a haptic device in displaying the simulated environment. The TTF is ideally equal to one for the bandwidth of human proprioception. In this work, a method is presented that increases TTF bandwidth via cancellation of dynamics with an adaptive model. This adaptive model is based on the kinematics and dynamics of a PHANToM haptic interface with assumed joint stiffness and damping added. The Lagrangian of the PHANToM is reformulated into a regressor matrix containing the state variables multiplied by a parameter vector. A least-squares approach is used to estimate the parameter vector by assuming that errors in force output are due to the manipulator dynamics. The parameter estimate is then used in the original model to provide a feed-forward cancellation of the manipulator dynamics. Software simulation using data from passive user interactions shows that the model cancellation technique improves bandwidth up to 35 Hz versus 7 Hz without compensation. Finally, this method has a distinct advantage when compared with other compensation methods for haptic interactions because it does not rely on linear assumptions near a particular operating point and will adapt to capture unmodeled features.
Sponsorship	Dynamic Systems and Control Division
Starting Page	1581
Ending Page	1587
Page Count	7
File Format	PDF
ISBN	0791842169
DOI	10.1115/IMECE2005-81443
e-ISBN	0791837696
Volume Number	Dynamic Systems and Control, Parts A and B
Conference Proceedings	ASME 2005 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2005-11-05
Publisher Place	Orlando, Florida, USA
Access Restriction	Subscribed
Subject Keyword	Damping Transparency Adaptive dynamics Computer software Force feedback Transfer functions Manipulators Errors Simulation Dynamics (mechanics) Phantoms Kinematics Virtual reality Feedforward control Stiffness Haptics Manipulator dynamics
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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