Haptic Bilateral Control with Disturbance Compensation Applied in Virtual Reality

  • 徐 肇康

Student thesis: Doctoral Thesis


On the demand for realizing the haptic feedback function besides position following for better experience in human-machine interaction systems this study proposes a haptic bilateral control integrating synchronous motion control and impedance control Based on this structure the environmental load will be transferred to users when the slave side contacts with the environment However with the combination of motors and mechanical linkages disturbance in systems influences users’ feelings and deteriorates the quality of haptic transmission Therefore distinguishing disturbance from human-machine systems and taking compensation are essential technologies needed to be considered In this paper a flexible module integrated by magnetic coupling and position encoders is proposed to calculate the haptic torque feedback to users and to define disturbances when combining with torque observer Meanwhile the disturbance compensation method is utilized to ensure haptic feedback is more consistent with environmental load allowing tactile sensation to become more real and clear By utilizing a real system and virtual platform to form a virtual reality system the feasibility and effectiveness of the proposed method are verified by experimental results Moreover with the implementation of a virtual reality haptic feedback vehicle steering system this paper also demonstrates the applicability of the proposed control structure
Date of Award2020
Original languageEnglish
SupervisorMi-Ching Tsai (Supervisor)

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