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The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction

The Touch Thimble: Providing Fingertip Contact Feedback Duri...

引用

International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Katherine J. Kuchenbecker David Ferguson Michael Kutzer Matthew Moses Allison M. Okamura General Robotics Automation Sensing and Perception (GRASP) Laboratory Mechanical Engineering and Applied Mechanics Department University of Pennsylvania USA Laboratory for Computational Sensing and Robotics (LCSR) Mechanical Engineering Department Johns Hopkins University USA Laboratory for Computational Sensing and Robotics (LCSR) Mechanical Engineering Department Johns Hopkins University Applied Physics Laboratory Johns Hopkins University michael.kutzer@jhuapl.edu

Touching a real object with your fingertip provides simultaneous tactile and force feedback, yet most haptic interfaces for virtual environments can convey only one of these two essential modalities. To address this opportunity, we designed, prototyped, and evaluated the Touch Thimble, a new fingertip device that provides the user with the cutaneous sensation of making and breaking contact with virtual surfaces. Designed to attach to the endpoint of an impedance-type haptic interface like a SensAble Phantom, the Touch Thimble includes a slightly oversize cup that is suspended around the fingertip by passive springs. When the haptic interface applies contact forces from the virtual environment, the springs deflect to allow contact between the user's fingertip and the inner surface of the cup. We evaluated a prototype Touch Thimble against a standard thimble in a formal user study and found that it did not improve nor degrade subjects' ability to recognize smoothly curving surfaces. Although four of the eight subjects preferred it to the standard interface, overall the Touch Thimble made subjects slightly slower at recognizing the presented shapes. Detailed subject comments point out strengths and weaknesses of the current design and suggest avenues for future development of the device.

关键词： Haptic interfaces Virtual environment Springs Force feedback Virtual prototyping Surface impedance Imaging phantoms Prototypes Degradation Shape

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Muscle coordination in healthy subjects during floor walking and stair climbing in robot assisted gait training

Muscle coordination in healthy subjects during floor walking...

引用

Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： S. Hussein H. Schmidt M. Volkmar C. Werner I. Helmich F. Piorko J. Kruger S. Hesse Rehabilitation Robotics Group Faculty of Mechanical Engineering Technical University Berlin Berlin Germany Rehabilitation Robotics Group Automation Technology Division Fraunhofer Institute Berlin Germany Department of Neurological Rehabilitation Klinik Berlin University Hospital Berlin Germany Automation Technology Division Fraunhofer Institute Berlin Germany

The aim of gait rehabilitation is a restoration of an independent gait and improvement of daily life walking functions. Therefore the specific patterns, that are to be relearned, must be practiced to stimulate the learning process of the central nervous system (CNS). The Walking Simulator HapticWalker allows for the training of arbitrary gait trajectories of daily life. To evaluate the quality of the training a total of 9 subjects were investigated during free floor walking and stair climbing and during the same tasks in two different training modes on the HapticWalker: 1) with and 2) without vertical center of mass (CoM) motion. Electromyograms (EMG) of 8 gait relevant muscles were measured and muscle activation was compared for the various training modes. Besides the muscle activation as an indicator for the quality of rehabilitation training the study investigates if a cancellation of the vertical CoM movement by adaption of the footplate trajectory is feasible i.e. the muscle activation patterns for the two training modes on the HapticWalker agree. Results show no significant differences in activation timing between the training modes. This indicates the feasibility of using a passive patient suspension and emulate the vertical CoM motion by trajectory adaption of the footplates. The muscle activation timing during HapticWalker training shows important characteristics observed in physiological free walking though a few differences can still remain.

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Dynamic inversion of quadrotor with zero-dynamics stabilization

Dynamic inversion of quadrotor with zero-dynamics stabilizat...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： Abhijit Das Kamesh Subbarao Frank Lewis Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Mechanical and Aerospace Engineering Department University of Texas Arlington Arlington TX USA

For a typical quadrotor model, one can identify the two well known inherent rotorcraft characteristics; under-actuation and strong coupling in pitch-yaw-roll. To confront these problems and design a station-keeping tracking controller, dynamic inversion is used here. Typical applications of dynamic inversion require the selection of the output control variables to render the internal dynamics stable. This means that in many cases tracking can not be guaranteed for the actual desired outputs. Instead, here, the internal dynamics of the feedback linearized system is stabilized with a robust control term. Stability and tracking performance are guaranteed using a Lyapunov-type proof. The approach could be called ldquoforward steppingrdquo in contrast with the well known backstepping design. Simulation with a typical nonlinear quadrotor dynamic model is performed to show the effectiveness of the designed control law in the presence of noise and disturbances.

关键词： Control systems USA Councils Conferences

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Multi-modal Task Apportionment in dynamic multi-factor systems

Multi-modal Task Apportionment in dynamic multi-factor syste...

引用

Chinese Control and Decision Conference, CCDC

作者： Hooman A. Samani C. Fua T. Chai S. S. Ge C. C. Hang Social Robotics Laboratory Interactive Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Process Industry Automation Ministry of Education and Research Center of Automation Northeastern University China

The problem of task apportionment for dynamic multi-factor systems is categorized in three different scenarios in this paper: admin, crew and factor based. The system is discussed based on the realistic manufacturing environments as an application platform in order to consider the robust Task Apportionment system for such a case but the proposed system can be generalized to any similar system. Both centralized and decentralized systems are considered and task allocation, re-allocation, exchange and execution as layers of task apportionment methods are designed and described in each system. The system may switch between modes according the feedback information of communication capabilities or uses different modes for each part of the platform.

关键词： Switches Resource management Manufacturing systems Manufacturing Dynamic scheduling Servers Robustness

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Dynamic acyclic motion from a planar contact-stance to another

Dynamic acyclic motion from a planar contact-stance to anoth...

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Mario Arbulu Kazuhito Yokoi Abderrahmane Kheddar Carlos Balaguer Department of Systems and Automation Engineering Roboticslab Universidad Carlos III de Madrid Madrid Spain Japanese-French Robotics Laboratory JRL AIST AIST CNRS Tsukuba Japan

ISBN: (纸本)9781424420575

This paper addresses the problem of generating dynamic motion for a humanoid between two predefined postures. The humanoid robot starts its motion from a statically stable configuration to another known statically stable configuration when it is necessary to make step; that is, the center of mass (COM) is inside the support polygon at the initial and the goal configurations. A dynamic motion generation method is proposed in order to generate the whole-body robot motion. Zero moment point preview control is used for maintaining dynamic stability while the robot is taking the step and suitable splines are used for generating the hands, neck and foot motion because it is a free motion on the field of gravity; the screw theory is applied under Lie groups for kinematics and dynamics humanoid modeling, which allows smooth and natural humanoid motion. Successful results on the HRP-2 humanoid robot are shown and discussed.

关键词： Foot Joints Robots Dynamics Leg Jacobian matrices Knee

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Time-coordinated path following of multiple UAVs over time-varying networks using L1 adaptation

Time-coordinated path following of multiple UAVs over time-v...

引用

作者： Aguiar, A.P. Pascoal, A.M. Kaminer, I. Dobrokhodov, V. Xargay, E. Hovakimyan, N. Cao, C. Ghabcheloo, R. Instituto Superior Técnico Lisbon Portugal Naval Postgraduate School Monterey CA 93943 United States University of Illinois at Urbana-Champaign Urbana IL 61801 United States University of Connecticut Storrs CT 06269 United States Tampere University of Technology Tampere Finland Institute for Systems and Robotics and Electrical Engineering and Computers Instituto Superior Técnico Portugal Department of Mechanical and Astronautical Engineering Naval Postgraduate School United States Department of Mechanical Science and Engineering University of Illinois Urbana-Champaign United States Department of Mechanical Engineering University of Connecticut United States Department of Intelligent Hydraulics and Automation Tampere University of Technology Finland

ISBN: (纸本)9781563479458

Motivated by challenging mission scenarios, this paper tackles the problem of multi-Unmanned Aerial Vehicle (UAV) cooperative control in the presence of time-varying communication networks. Specifically, we address the problem of steering a fleet of UAVs along given paths (path following) so as to meet spatial and/or temporal constraints. One possible scenario is the situation where a fleet of vehicles is tasked to execute collision-free maneuvers under strict spatial constraints and arrive at their final destinations at exactly the same time. The paper builds on previous work by the authors on coordinated path following and extends it to allow for time-varying communication topologies. Path following control in 3D builds on a nonlinear control strategy that is first derived at the kinematic level (outer-loop control). This is followed by the design of an L1 adaptive output feedback control law that effectively augments an existing autopilot and yields an inner-outer loop control structure with guaranteed performance. Multiple vehicle time-critical coordination is achieved by enforcing temporal constraints on the speed profiles of the vehicles along their paths in response to information exchanged over a dynamic communication network. We address explicitly the situation where each vehicle transmits its coordination state to only a subset of the other vehicles, as determined by the communications topology adopted. Further, we consider the case where the communication graph that captures the underlying communication network topology may be disconnected during some interval of time (or may even fail to be connected at any instant of time) and provide conditions under which the complete coordinated path following closed-loop system is stable. Hardware-in-the-Loop (HITL) simulation results demonstrate the benefits of the developed algorithms. ©;2008 by A. P. Aguiar, I. Kaminer, R. Ghabcheloo, A. M. Pascoal, E. Xargay, N. Hovakimyan, C. Cao, V. Dobrokhodov.

关键词： Cooperative communication

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A battery State of Charge estimation method with extended Kalman filter

A battery State of Charge estimation method with extended Ka...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Fei Zhang Guangjun Liu Lijin Fang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Chinese Academy and Sciences Beijing China Department of AeroSpace Engineering Ryerson University Toronto Canada

ISBN: (纸本)9781424424948

In this paper, a battery state of charge (SOC) estimation method based on the extended Kalman filter is proposed. In some known battery SOC estimation methods, it is assumed that the relationship between battery open circuit voltage and SOC is linear and static. However, this relationship is only piece wisely linear in practice and varies with the ambient temperature, as assumed in this work. The proposed model assumption matches better with the real battery behavior. A battery is modeled as a nonlinear system, with the SOC defined as a system state. The extended Kalman filter is applied to estimate SOC directly for a lithium battery pack. The effectiveness of the proposed method is verified on a power transmission line inspection robot. The experimental results verify the effectiveness of the proposed method.

关键词： System-on-a-chip Batteries Estimation Voltage measurement Measurement uncertainty Robots Lithium

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Fast Algorithm for Blind Estimation of Tip Shape for Atomic Force Microscope

Fast Algorithm for Blind Estimation of Tip Shape for Atomic ...

引用

IEEE Conference on Nanotechnology

作者： Shuai Yuan Ning Xi Zaili Dong Lei Miao Yuechao Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Michigan State University USA

ISBN: (纸本)9781424421039

Imaging quality of nano scales produced by atomic force microscope (AFM) seriously depends on the shape of the probe tip. Commonly, the distortions will be induced when the probe tip scans material surfaces. This situation could hinder nano-observation and nano-operation. In order to obtain the actual observing image, one of the existing methods for solving this problem is the blind evaluation of the probe tips. Through this method, the shape of a probe tip can be described, and then the scanned image produced by the probe can be improved by the known tip shape. Since the traditional algorithm of tip blind evaluation is extremely time-consuming, a new algorithm that can significantly reduce the computational time, is presented in this paper. The experimental results demonstrate that the new algorithm is much more efficient compared to the existing methods.

关键词： Shape Probes Estimation Pixel Surface morphology Microscopy Atomic force microscopy

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Control system design and experimental verification of Capsubot

Control system design and experimental verification of Capsu...

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Namkon Lee Norihiro Kamamichi Hongyi Li Katsuhisa Furuta Department of Advanced Multidisciplinary Engineering Graduate School of Advanced Science and Technology Tokyo Denki University Japan Department of Robotics and Mechatronics School of Science and Technology for Future Life Tokyo Denki University Japan Shenyang Institute of Automation China

ISBN: (纸本)9781424420575

This paper is concerned with the development of the capsule robot (Capsubot) which can move with no external parts. It is easy to be constructed in small scale and maybe can be used for medical uses such as the endoscope since the Capsubot moves bidirectionally. The Capsubot could move by exerting friction force through movement of inside mass. This paper shows theoretical analysis and experimental verification of the locomotion for the Capsubot. In the experiment, the motion of inner mass is generated by coils and a magnet. Displacement of the Capsubot is measured by laser sensor and also position of the inside mass is measured. Using the developed test system, the motion of the developed Capsubot is experimentally compared with the one of the theoretical model.

关键词： Friction Force Coils Driver circuits Analytical models Acceleration Computational modeling

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Adaptive Observer Based Actuator Fault Diagnosis for ASV

Adaptive Observer Based Actuator Fault Diagnosis for ASV

引用

International Conference on Innovative Computing, Information and Control (ICICIC)

作者： Jianfei Wang Bin Jiang Peng Shi Hankang Wang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Faculty of Advanced Technology University of Glamorgan Pontypridd UK Department of Computer Science VII: Robotics and Telematics University of Wurzburg Wurzburg Germany

This paper deals with the actuator fault diagnosis and accommodation problem for the aero space vehicle (ASV). A novel nonlinear robust adaptive observer is developed for estimation of the actuator fault under the Lipschitz condition on the nonlinear part of such systems, which is used to continuously accommodate the control signal, so as to ensure the stability of faulty system. Finally, simulation results about ASV are presented to illustrate the feasibility and effectiveness of the proposed methods.

关键词： Fault diagnosis Actuators Observers Estimation Algorithm design and analysis Robustness Adaptive systems

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