Design of a novel haptic device for bilateral teleoperations requiring accurate force interaction

Meng Kuan Cho, Sheng Yuan Huang, Chao Chieh Lan

研究成果: Conference contribution

摘要

Haptic devices need to render accurate force to a human operator in order to create a virtual environment from a remote real environment. Existing end-effector type haptic devices employ parallel mechanisms to achieve force interaction in multiple degrees-of-freedom (DoF). Those parallel mechanisms have non-constant Jacobian matrices that create difficulties in the actuator and controller design for accurate haptic force interaction. This paper presents a 3-DoF translational parallel manipulator (TPM) with a constant Jacobian matrix to facilitate the force and impedance controller design. Instead of using external force sensors, series elastic actuators (SEAs) are used for the proposed device to realize the force rendering. SEAs can render more accurate output force and stiffness while the inertia and friction problems of using a gearhead can be ignored. In this paper, the modeling, design, and control of the haptic device are established to show the merits of the proposed TPM. Initial force control experiments demonstrate the accuracy and speed of SEA-based force control. We expect that this novel haptic device can serve as an alternative for robotic teleoperations requiring accurate force sensing and control.

原文English
主出版物標題Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
發行者Institute of Electrical and Electronics Engineers Inc.
頁面74-79
頁數6
ISBN(電子)9781728124933
DOIs
出版狀態Published - 2019 七月
事件2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 - Hong Kong, China
持續時間: 2019 七月 82019 七月 12

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2019-July

Conference

Conference2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
國家China
城市Hong Kong
期間19-07-0819-07-12

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

指紋 深入研究「Design of a novel haptic device for bilateral teleoperations requiring accurate force interaction」主題。共同形成了獨特的指紋。

  • 引用此

    Cho, M. K., Huang, S. Y., & Lan, C. C. (2019). Design of a novel haptic device for bilateral teleoperations requiring accurate force interaction. 於 Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 (頁 74-79). [8868591] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; 卷 2019-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2019.8868591