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Reportno15.04Destination: KangHeeJun,DoanHiep
Topic:
HapticsDeviceBasicConceptsMICROSOFTWORD
Summary:Thisreportreviewsthebasicconceptsofhapticdevicesandshowthemethodologyinmy
research.15.02:AddHistoryofHapticDevices15.03:Thefivesenses+DirectInteractionviaahapticinterface15.04:Previousworks
1. Hapticdevices
1.1. HistoryofHumanMachineInterface(HMI)
Theworldsfirstreallogicmachine,inthesensethatitcouldactuallybeusedtosolveformallogicproblems(asopposedtothosedescribedinRamonLullsArsMagna,whichtendedtocreatemoreproblemsthantheysolved),wasinventedin1777bytheBritishscientistandstatesmanCharlesStanhope(thirdEarlofStanhope).
Inthe1870s,twoinventorsElishaGrayandAlexanderGrahamBellbothindependentlydesigneddevicesthatcouldtransmitspeechelectrically(thetelephone).
ThecathoderaytubeorCRT,inventedbyKarlFerdinandBraun,isthedisplaydevicethatwastraditionallyusedinmostcomputerdisplays,videomonitors,televisions,radardisplaysandoscilloscopes.TheCRTdevelopedfromPhiloFarnsworthsworkwasusedinalltelevisionsetsuntilthelate20thcenturyandtheadventofplasmascreens,LCDTVs,DLP,OLEDdisplays,andothertechnologies.AsaresultofCRTtechnology,televisioncontinuestobereferredtoasTheTube wellintothe21stcentury,evenwhenreferringtononCRTsets[iv].
Inparallel,3engineersofBellslabinventedthetransistorsin1947andreceivedNobleprizein1956.Fewyearslater,thefirstpopularcomputer(Apple)appears.Internetstartedintheendof1980s.
Inroboticsandteleoperation,thefirstMasterSlavemanipulatorsystemwascreatedforthenecessaryofNuclearIndustryin1940byGoertz,anditsimplementwasusedin1956.In1960,theItalianproducedunevolutionofthismodel,theMascot.
Theevolutioninthisdomain,playedacentraltechniquefortheparalleldevelopmentofthetwootherbranches:ComputerGraphicsandHumanMachine
Interface[iii].TheinteractiveInfography(ComputerGraphics)wasbornin1960withSensoramaSimulator(ExperienceTheater)ofMortonHeilig,thentheSketchpadandHMDofSutherland(1961),thenthefirstmouseofDouglasEngelbrtin1966.Intheearlyof1970s,withstandardizationandcomercializationofinterfaces(programs,materialsanddrivers)andwiththefoundationofconferenceSIGGRAPH(1974),Computer
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Graphicsbecomesindependentfield.HMIthenwentonanotherbranchwithWIMP[15].
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Time R&D Industrial Applications Technical Supports Influences
1920
Concepts of robot fromdrama
1940 Manipulators
1950Intelligent Robot
Loop memory
1960
Robot controlled bycomputers
ResearchRobot in industry
Applied at NASA and NAVY
Transistor Computer
Microprocessors
1970
AI Robotics
Boom of roboticst
Development of uP
Disavantages of
Economy
1980
Hazardous Robotics
Industrial Robots and otherapplications
Digital Technique
Optical Technique
Necessity ofAutomation
1990
Robot in production
Logic control
AI Robotics
Unemploymentbecause of robotics
2000Humanoid Robotics
Development of Mechanics
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1.2. Historyofkinethetichapticsinterface
IrepresentheresomepicturesofHapticsDeviceswhicharecreatedintermoftime
1.2.1. Palmhaptics
FirstelectricalmanipulatorofGoertzin1940s
MagLevofCarnegieMellonUniversity(1991)
SpidarofTokyoInstituteofTechnology(1991)
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PDDMoflaboratoryATR(1993)
LinearandPlanarhapticinterface(1994)
ExcaliburofWashingtonUniversity(1995)
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Mousehapticsbasedonpantograph(1997)
HapticMasterofFCSRobotics(1997)
VirtuoseofHaption(1999)109,000$
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3dofJoystickofPERCRO(2000)
1.2.2. Fingerhaptics:
ThisisthePhanTOMhaptics.PhanTOMusesthecounterbalancestomakenongravityhaptics,andtheyusePWMcontrolforDCmotorsintheircontrollers.Theirpricesfor6DOFsystemlikethisisabout78,000USD.(from1994,byThomasMassie,
student
of
Dr.
Kenneth
Salisbury
MIT)
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HapticPen,UniversityofColorado(from1996)
ThePencat/ProaproductderivedfromthePantograph(1998)
CommercializedbyHaptechInc.NowImmersionCanadaInc.
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HapticDesktop
Haptic
Pen
of
PERCRO
(from
1999)
DoublePantographStytetofUniversityofBritishColumbia(2000)
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3dofDigihapticofLIFL(2003)
1.2.4. Modularhaptics
ACROEICAhaptics(from1978,currentdesignfrom1999)
10,000Euro
for
1dof
to
30,000
Euro
for
6dof
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vBowofStandfordUniversity(2000)
HapticBlackBoxwith16tupesofUNIPI(2003)
InterfacetactilokinthtiqueofLSC
(LaboratoiredesSystmesComplexes2004)
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1.3. Thefivesenses
Phenomena Sensors Values
Audition Acouticwave Tympans/cochle 25Hz15KHz
0120dBVision Electromagnetic
waveRetina 380nm780nm
3.87.9105bps[vi]
Touch Mechanics Skinreceiver 0500Hz
0.04N100N
Taste Chemics x x
Smell Chemics x x
Referredto[5]and[vi]
1.4. DirectInteractionviaaHapticInterface
Thispartisquitecomplex,butitisaveryimportantpart.However,wecangetaverysimpleideafromthispartthatWhydontwestartatthebeginning,andwhydontweletanobjectbewhatitis?
1.4.1. IntroductiontoCausity
Theoricalproblem:Mechanically,anobjectorhumanuserproduceandreceiveforcesandpositionsinstantlyandcontinuously.Butthesignalflowbetweenhumanuserandhapticinterfaces,andsimulatedobject,andobjectsarequantitiveandinseries.Itistheunnaturalexchangementtotheoriginalduality.
Techniqueproblem:Theinfluencesofreduced(orlost)signalswillbediscussedin1.4.3.Here,weconcentratetothecausualproblem.Thedelayonthepropagationof
signals.Thesignalsmustbecapturedbythesensors,encoded,transmitted,discretized,calculatedAllmakethedelays.Theobjectthenappearsdifferrentlyfromitsmetaphorandthismetaphorwillalsobedifferentfromitssimulatedobject.Generally,thedesignofsimulatedobjecthavetotakeintoaccounttheeffectsintroducedbytheretards.
1.4.2. IntrodutiontoaMorphologyinUsersSpace
Theoricalproblem:Theusernolongermanipulatestheobjecthimself,butviaamorphologicalhaptics,whichisanassembledarticulatedmechanism.Theeffortsof
researchinginthisdomainistorazeoutthishaptics,butforgotanobjectisanobjectitself(focusonthesurface,thetexture,).Ofcourse,itispossibletotryproducingamorphologyandvirtualobjectwithmaximumcontrolledpointsgobetweeninordertohelptheuserfeelsasidenticallyastouchingdirectlytotheobject.However,thismethodbecomeslimitedbecauseoftheprecisionofthemechanismandtheactuators/sensors,
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thenumberofexpectedcontrolledpointsIftheobjectischanged,themorphologyhastobechanged.Thesecondapproachistolettheobjectbeasitpresentsandmakeamorphologytool.Theadvantageofthissolutionisthatthetoolremainsmodular(eventheobjectchanges,wecanusethesametooltomanipulateit).Itisrealistic(metaphorof
theinstrumentalinteractions)anditallowstomastermoreproperlytherelationshipbetweenthekinematic/dynamicmorphologyandsignals
Techniqueproblem:Themorphologicaltoolposescertainproblemsrelatedtocontrolthebehaviorofthemechanism,whicharethemodularityandthenumberofdegreesoffreedom.However,thisproblemgetsbacktothecausityproblemabove,andthereareonlytwoapproachremains:one,wesayautomaticsapproach,whichtrytosolvethecausialproblemintermofreducingtheeffects/contraintsoftimedelaytoapproachanidealmetaphor;another,wesayphysicallybasedapproach,whichstudythemetaphorandconsiderthecausityistheensensial/originaloftheobjectandwetrytodescribethe
objectasitis.
1.4.3. Introductiontoformalismintherepresentationofthevirtualobject
Theoricalproblem:Arealobjectisacompactuniqueandunseparated,thesensorymodalityisonlytheinterpretationrelatedtohumanfaculties.Wheneverwemodelanobject,thatisweusespecificoutputsfromsensorstodescribesomespecificbehaviorsoftheobject,suchas:dynamics,form,andphysical,geometricalcharacteristics.However,tocaptureandrepresentanybehaviorofanyobjectnaturallyisnotlike
simple.Techniqueproblem:Therearemanyformalisms,butwewillthinkaboutthemy
methodologylater.Mymethodologyisverysimplethatweusethebasiccomponentsofidealmechanism(metaphor)whicharemassesandspringsanddampers,andobservetheseparticularphysicalmodelstogeneratesimultaneouslyvisionfeedback(geometrics),soundfeedback,andforcefeedback.
Ihaveexperiences,workingontheCORDISANIMAtool,whichistheonlytoolIknowtomakethemetaphorasdescribedabove.
1.5. Somereferencesabouthaptics
Teleoperationhaslongpursuedthegoalofremotemanipulation,promisinguserstheabilitytointeractnaturallywithenvironmentsthatarenormallybeyondhumanreach.Thefirstsuchsystemsweredevelopedinthelate1940stoletanoperatorhandleradioactivematerialsfrombehindashieldedwall[1].Theseearlymasterandslaverobotswereconnectedmechanicallyandbehavedasasingleextendedtool.Theusercouldeasilyfeelinteractionforcesfromtheremoteenvironmentastheyweretransmitteddirectlythroughthemechanism.Theapplicabilityofsuchsystemswasgreatlyincreasedbyreplacingtheirsimplemechanicalconnectionwithanelectriccontrolsystem[2].Atpresent,humansuseteleroboticstoexplorethedeepsea,assembleequipmentinspace,andperformminimallyinvasivesurgery;unfortunately,thesemodernsystemsallstruggletoprovidetheuserwithnaturalfeelingfeedback.
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Anidealteleoperatorwouldmakeremoteinteractionsfeellikedirectmanipulation,portrayingthedynamicsofthedistantenvironmentwithoutdistortingtheusersmotionsorhapticperceptions.(*)[3](2005)
In[4],SittiwhosworkedwithNanomanipulatorconcludedthattheforcefeedback
canhavemucheffectsthananyothersensoryfeedback.(2003)
In[5],Burdeashowsthatmanshandcanfeelthebandwidthofvirtualforcefeedbackfromatleast5KHzto10KHz.Therefore,oneofouraimisalsotogetthebandwidthofthesystemtobe5to10KHz.(1996)
However,in[6],[15],aquitenewconceptofhapticshasbeenresearchedherewhichcallsInteractiveMultisensoryFeedback.Argumentatively,anoldwomantremblesuncontrolablybutshestillcanusethebamboosticks,knifeandallthehouseholdstuffs.Incase,ayoungmancanuseaknifetocutanapplesskinwithhisnormalarm,socan
theoldwoman.Wecanimaginethattheoldwomansarmdoesnottremble,buttheknifevibrates,withhernormalarm,shecancontroltheknifeornot?(2003)
Thisisaverybigquestiontoresearcherswhoworkonhapticsfield.
Getbacktothe(*)paragraphabove,weshouldaskaquestionthatwhatanidealteleoperatorshouldbe?Itshouldhavetherealinteractionfeedbackfromtherealremoteenvironment,notthebestcontrolsysteminsenseofrobustorstability.
[16](1980)isaveryimportantpaperaboutdelayedsystem.
Itiswellknownthatthetimevaryinglinearsystemisnotalwaysstable(unstable)
evenif
the
frozen
time
system
is
stable
(unstable),thatis,thestabilitypropertiesofthe
timevaryingsystemcannotbepredictedfromtheeigenvaluesofthecharacteristicequationofthefrozentimesystem.
Inthispaperthestabilityconditionsforafirstordersystemwithtimeorstatevariabletimedelaywereinvestigatedandthepropositionthatthetimevarying
systemisnotalwaysstable(unstable)evenifthefrozentimesystemisstable
(unstable)wasverifiedforthesystemwithvariabletimedelay.Afurtherproblemwillbetoinvestigatetheclassofthesystemwithtimevariabletimedelaywhosestabilitypropertycanbepredictedbythatofthefrozentimesystem.
[17],[18](1997,1998) areaconferenceandajournalpublishedbyOboeandFiorini.Theyshowedanewtechniquetoestimatetheconnectiondelayofinternet,saysphaseplot,andtheproblemsofdelayarecomingfrom:
Throughput:anapplicationmayfaceacongestednetworkandnotabletoexchangedataconsistently.
Delay:itsupperbounddependsonthenetworktraffic.
Delayjitter:networkloadmayinducelargedelayvariationandpacketscrambling.
Packetlosses:routinghostsmaydiscardpacketsthatoverflowtheinputbuffers.Withphaseplot,hecouldestimatea10,000kmlongconnectionwouldhaveabout
320msretards(notethatthisisinternettechniquesin19961998).In150kmdistance,
thedelaysconcentratetofasterthan10mspoints.
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Intheirpaper,thereweremanyanalysisaboutothermethods,andIagreedwiththem.However,Ileavemydiscussionintothenextpart.
In[13](2001),the3authorsshowedaveryinterestingconclusionthatSincethevelocityisnotmeasurable,whichisoftenthecaseforindustrialrobots.
Impedancecontrolisarobotforcecontroltechniqueaimedatcontrollingtherelationbetweenpositionandforce,ratherthancontrollingeitherofthesevariablesalone.Thistechniqueisoftenusedtodealwithgeometricuncertainty,i.e.,whentheexactlocationoftheenvironmentisunknown.
Sinceindustrialrobotsareoftenequippedwithpositionsensorsonly,thevelocityhadtobereconstructed.Afullorderobserverwasusedtoestimatethevelocity,andthemodeloftherobotjointneededfortheobserverdynamicswasobtainedbysystemidentification.
TheapproachtakenwasbasedonresultsonobserverbasedSPRfeedbackFJohanssonandRobertsson,2001.ThedesignincludedthesolutionofaRiccatiequation,andthestiffnessanddampingintheimpedancerelationweremodifiedbythechoiceofweightsinthedesignmatrix.StabilitywasprovenbyamodifiedPopovcriterion.
In[13],heusebothmathematicalandpracticalapproachtogetthisresult,andthesameresultswasachievedin[15]bySylvainwithhisargumentthatImpedancemodeincontrolhavesomemoreeffectsthanAdmittancemodeintelerobotics,andhapticssystems.(seeAppendixAforImpedanceandAdmittancemode).
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2. Previousworks
Followingtheresearchesonthisfield,Ihavechosensomereferencestoexplainaboutthemainideabouthapticssystems.Wehaveknownabovesomehapticdevices,butwhentheycombineandusethehapticswiththeirremoteenvironment,whatdid
theydo?Andhowdidtheydo?
Thereferencesare[7](2004),[8](1989),[9],[10](2002),
2.1. TransparencyandStabilityofBilateralKinestheticTeleoperationwith
TimeDelayedCommunication
Thisjournal[7]showsanstrateythatsimulatanenouslystabilizesbilateralkinestheticteleoperationandimprovestransparencyfortypicalcontactsituationsofthe
teleoperator.Thestrategyproposedhereisbasedonthreemajortechniques:
(i) twoportlosslesscommunicationlinetheory,
(ii) properlydesignedteleoperatortransferfunctionsbyuseoflineimpedanceadaptationfilters,
(iii) andswitchingofadaptationfiltersforsmoothoperationincaseofvaryingcontactsituations.
Forpurposesofillustrationwewillconsiderasanexampletheexperimental
bilateralkinestheticteleoperationsystemdepictedinFigure1.Itcomprisesa1DoFpaddleontheoperatorandteleoperatorsiteforkinestheticinteractionbetweena(HumanOperator)HOandtheoperatordevice,andbetweenateleoperatorandtheremoteenvironment,respectively.
Twobasicsituationsmayoccur:Incaseoffreemotion,i.e.thenocontact(NC)state,arathersmallforcesignalisfedbackfromtheteleoperatortotheoperatorsite,whichcorrespondstoagainfactorbetweenpositionandforceofnearlyzero.SincetheHOwillreceiveonlylittleinformationaboutthedriveforcesortheenergystoredintheteleoperatordevice,operationmayeasilyresultindangeroussituations.Ontheotherhand,incaseofenvironmentalcontact(EC)oftheteleoperator,smallestpositionvariationswillproducesubstantialchangesinthefedbackforce,dependingobviouslyontheenvironmentalproperties.Thismeanshighgainvaluesbetweenpositionandforcewithatendencytodestabilizetheclosedloopkinestheticteleoperationsystem.
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ImplementTechnique:Inhisexeperiments,heusedthePIcontrollerontheoperatorsideassimplyas
following:
, , ,( ) ( )des
d h p h h h d h hM k M M k = + (**)
AndheusethePDcontrolleronteleoperatorsideasfollowing:
( ) ( )desd d e p e eM k k = +
(**)IdontknowwhyheconsiderthisisanPDcontroller(hedidntmentionaboutthecontroller,butheusek_d).Butthisisforcecontrol,andthevelocityistheintegrationofaccelerationanditshouldbePIforcecontrol!!!???
Afterthat,tohavemoreaccuracy,heconsideredthehapticshavestiffnesspaddlek_n.Andhecontinuedtofindthesuitablecontrollerforthissystembyfindingk_pand
k_d.
Becauseofthedifferenciesbetweenthetwocontactmode(NoContactandEnvironmentContact),heusedswitchingstrategytoevaluatethecontrollers.Idonotfocusonthecontrolstrategy,becauseatthistimeIdonotworkoncontroller,atthistime,Iwouldliketoexpresswhatisthehaptics,andhowfarwecangowiththehaptics.
Discussion:Letsthinkabouthisproblem.WehaveatorqueontheoperatorM_h,andwealso
havethedisplacementphi_h,andheconsiderinertialofHSIiszero!!!.Iwilldiscussmoreinfollowingpapers,andIwilltrytoexplainwhytheywantthemassorinertialofthehapticsbecomeszero.
Becausethemassbecomeszero,thinkaboutthiscase.Completely,inNCmode,everythingbecomeszero,noforce,nomass,averylightgravitywasnotconsiderable.
ButinECmode,whenyouputsomethingonthetable,evenitisacup(100g),acomputer(10kg),oracarontheroad(200kg)andyoupushonit.Whatwillyougetfromforcefeedback?Wewillhavethesamevalue,thatswhytheycansetupsuchbig
valueastheywantinECmode.Thisisonewayofthinkingaboutthehaptics,becauseofthekinethetics,andthe
differentgainintwomodes(NCandEC),wecanuseswitchingstrategytohavea
goodcontroller,andconsiderthereisnohapticsmass.
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Hisresultswithnodelay.ThisisonlytheeffectofPDandPIcontroller.
2x50msdelay
Theunaccuracyforpositionisaround1cmandforforceisfrom510Nto20N
2.2. BilateralControlofTeleoperatorswithTimeDelay
Thisisthesummaryof[8](1989),whereSPONGusedthemechanics/electronicsanalogy[11](1983)toanalysethetwoportsystem.
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Thispaperhasintroducedacontrollawforcontrollingateleoperatorwithtimedelay.Theteleoperationsystemwasdevidedintofiveblocks:theoperator,master,communicationblock,slaveandenvironment.Byusingamechanical/electricalanalogy
itwasshownthattheinstabilitywhichoccursinbilateralteleoperationinthepresenceofthetimedelayisduetoanonpassivecommunicationblock.
Byactivecontrolwehaveachievedacommunicationblockwhichmimicsalosslesstransmissionlineandisthereforeguaranteedtobeapassiveelementindependentof
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timedelay.Thus,stabilityfortheteleoperatorhasbeenachievedwithoutrestrictingthebandwidthofsignals.
Discussion:Thefactthat,usingelectronics/mechanicsanalogyisjustamethodtohelpsolvingthecontrollerwithmoreease.In[12](2004)OndrejtrytouseBondGraph(see[ii]formoreinformationaboutBondGraphandPhysicallyBasedModelling)buthecouldnotarchievethegoal.Finally,hepublishedthispaperwithoutmentioningaboutBondGraph,andhisworkhadmanyunreasonableresults.
Itsimportant
to
note
that
all
passive
systems
will
be
automatically
stable.
ThisisthemostimportantthingfromSpong1989.
Thispaper[8]canalsoexplainfortherecentworksofHanaford[9],[10](2002)whenheusePassivityobserver(PO)fortimedomainPassivitycontrol(PC).
2.3. TimeDomainPasivityControlofHapticInterfaces
Inthesepapers,Hanafordprovedthestabilitycanbeachievedasusingpassivityobserverandpassivitycontrol,andheshowedtheproceduresindetailsofPOandPC.
However,fromSpongsworktoHanafords,theresultsarethesystemwillbestablebutcannotbefeltbyuserinenvironmentalcontact(EC)mode.Theresultsareshowninfollowings:
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Discussion:WhatisPC?
Thefactthat,PCissimplyanaddeddamper,andpassivitymeansdampeverythingandtheirresearchescanbecalledUnconditionalStabilization.WhyIsayso?
Becausetheessensialequationiscomingfrom:
1 2f f v= +
Thatis,youhaveadamper,anduseidenticalv_1andv_2astheinputs,thenfindf_1andf_2.However,itsunnaturalequation.Theconditionwhichisusedtofindf_1
andf_2aretheenergyflowintheport.
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Justthinkaboutthenaturaleffectsofadamper,whenwehavetheforceinputs,sayf_1andf_2,therelativepositionofthetwoendsofthedamperwillchange,andthatisvelocityoutput.Thenifthetwoendsofthedampermove,itwillgeneratethesameforceatthetwoends.Allwhathedidwasfindingsuitabledamperateachpointoftime,
sothattheportwillbecomespassive.However,thinkaboutifweuseverybigdampertoeverysystem,allthesystems
willbeautomaticallystablewithoutanycondition.So,wemaysay,thisapproachofpassivitycontrolisUNCONDITIONALSTABILITY
Noonewantswhenhecontactstoanobject,hefeelsnoforce,andinnocontactmode,hefeelstheforce.
Thisyear2006,Hanafordandhisstudentscontinuepublished[14]for6dofhapticsystem,andtheresultsarestillthesame.Hewanttoshow,inEC,forceswillbecome
zero!!!??
2.4. InducedMasterMotioninForceReflectingTeleoperation
IhavereadaboutNiemeyersLABpublications,andbeinterestedintheirresearches.Inthisreport,Idonothaveenoughtimetoexplainabouttheirworks,andthefactthattheyhaveworkedonmanyproblemsofhapticsthatatthistime,Icannotexplainindetailsaboutall.
Inthisreport,Ijustreviewwhattheyhave,andwhattheyaredoing.
In1991[21],Niemeyertriedtoovercomethelimitationofknowntimedelaybytransformingthecommunicationchannelintoalosslesspassiveconnection,whichuseswavevariablestorepresentvelocitiesandforcesexchangedbetweenthemasterandslave.
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Atthistime,Niemeyerdothesameasotherresearchthatheunderstandthesystemcanbecontrolledwithpassivity,thatisthesystembecomesstable.
In2003[20],aninterestingproceedingoncharacterizingthehumanwristshowedthatthehumanwristgraspingastyluscanbewellmodeledasasecondorderlinear
system.StiffnessandDampingwerefoundtoincreasealmostlinearlywithstylusgripforce,thoughintersubjectvariabilityfortheparameterswassignificant.
In2005,hepublishedmanypaperswithhisspecialtool(hedonottellabouthistoolindetails)tomodelthesystemwithmass,spring,damperandCoulombfriction.Hisapproachissoclosetomine.However,skimmingaroundhispapers,oneisaboutmodelingthesystem[3],the[22]heconcludedthedimensionlessformulationofthemodel(dynamicequationsofmassconnectedwithspring,dampersandCoulombfriction)allowedasimplepassivityanalysisofthehapticinterface.Thatiswecaneasilyanalysethepasivitywiththistypeofmodel.
Averyimportantnotein[23],heexplainedbouttheeffectsofCoulombfriction,anditisveryimportantinthemodels.
ThoseworksbasedonCancelingInducedMaster![24].Hisresultsaresoexciting,however,IdontknowitisgoodornotwithMasterCancelation.HisresultsintheabovefiguresayCancellationisgood.Butletsthink,doyouwantyourtooltobedisappreared?
Imreadingcarefullyabouthisworksandthankstohim,withastronglab,hegavemanyinterestingresultsforexampletheCoulombfrictioneffects,thestabilityanalysisandpasivity
Ishowheresomefiguresoftheirworks,perhapsyouneedtohavesomeexplanations:
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Iwillhavesomecommentsabouttheirhapticsstructure.Letsthinkabouttheinducedmaster.Thefact,inducedmasterisamassandwecancheckthesefollowingequations:
Atthemasterport,F_fandx_m,andtheslaveportF_tandx_c.Inourapplication,
theremoteworldislargerthanhapticsworld,whichisnormallyweusethehapticstocontrolaremotebigrobot,nottothenanoworld.Therefore,muyshouldbebig,andlamdashouldbesmall.
Howtochoosemuyandlamdaisaninterestingproblem.
ImplementingasimplepositionforcecontrollerwithoutmodifyingGf(s)andGs(s)requiresselecting andltoavoidcontactinstability.Theforwardpositionscale isusuallychosentoequatetheworkspacevolumesofmasterandslaveortoprovidemotionscalingimportanttothetask.Theforcereflectionratiolisthenincreasedfromzerountilcontactinstabilityarises.Standardteleroboticsystemscontrolledinthismannersetltovaluesmuchlessthanunity,attenuatingallforcefeedbacksignalsequivalently[25](1993)andinmanyotherpapers.
The[25]solveverycomplexmathematicalfunctionsthatIdonotdaretoreadallofthem.Butletsthink:
F_fandx_mistheforceandpositionofamass,andF_tandx_cistheforceandpositionofaspringconnectedwiththemass.
1
t c c
f c m
f c m
F K x
F K x
F K x
=
=
=
howstrongdoyouwanttofeelfromthespring?
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3. Whatarewegoingtodo?
3.1. Introductiontodualportmechanisms
3.2. MassesandLinks
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3.4. Pushandleave(Impulseresponse)
3.4.1. m1=10m2=10
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%Parameters
k = 100
m1 = 10
m2 = 100
F = 1
Throughtoutthisexample,whatdoyousee?
First,understandingaboutthesystem?Whatdoyouseefrommatlabsimulink?Whatdoyoufeelaboutthehapticsyouhavewithmatlabsimulink?
Second,mathematically,thetwomodelsarethesame.
Third,parallelcomputingmayhelpustocomputeasocomplexsystemwithmassesandlinks
3.7. WhatdoIthinkaboutoursystem?
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3.8. Howtocompute?
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4. Reference
[1]GOERTZ,R.C.,1952.Fundamentalsofgeneralpurposeremotemanipulators.Nucleonics,10(11)Nov.,pp.36.45.
[2]GOERTZR.C.,1954..Electronicallycontrolledmanipulator.Nucleonics,12(11)Nov.,pp.46.47.
[3]KATHERINEJ.KUCHENBECKERandGUNTERNIEMEYERInducedMasterMotion
inForceReflectingTeleoperation.ICRA2005.
[4]METINSITTI,TeleoperatedandAutomaticNanomanipulationSystemsusingAtomicForceMicroscopeProbes,inProceedingofthe42ndIEEE,ConferenceonDecisionandControl(IEEE,ed.),Maui,HawaiiUSA,pp.2118 2123,122003.
[5]G.BURDEA,Forceandtouchfeedbackforvirtualreality,JohnWiley&Sonsinc.,
1996.[6]CLAUDECADOZ,ANNIELUCIANI,JEANLOUPFLORENS,NICOLASCASTAGNEACROEICAArtisticCreationandComputerInteractiveMultisensorySimulationForceFeedbackGestureTransducers.Proceedingsofthe2003ConferenceonNewInterfacesforMusicalExpression(NIME03),Montreal,Canada
[7]HUBERTBAIERandGNTHERSCHMIDTTransparencyandStabilityofBilateralKinestheticTeleoperationwithTimeDelayedCommunication.JournalofIntelligentandRoboticSystems40:122,2004.2004KluwerAcademicPublishers.PrintedintheNetherlands.
[8]ROBERTJ.ANDERSONandMARKW.SPONG,BilateralControlofTeleoperatorswithTimeDelay.IEEETransactionsonAutomaticControl.Vol34,No.5,May1989.
[9] BLAKEHANAFORDandJEEHWANRYU,TimeDomainPasivityControlofHapticInterfaces,IEEETransactionsonRoboticsandAutomation,Vol18,No.1,2002.
[10]JEEHWANRYU,DONGSOOKWONandBLAKEHANAFORD,StabilityGuaranteedControl:TimeDomainPassivityApproach,IEEETransactionsonControlSystemsTechnology,Vol.12,No.6,Nov2004.
[11]R.ROSENBERGandD.KARNOP,Introduction
to
Physical
System
Dynamics.NewYork:McGrawHill,1983.
[12]ONDREJJEZ,ALINAVODABESANCON,SYLVAINMARLIEREandGILDASBESANCON,DynamicModelingofaNanomanipulatorChain,2004.
[13]DANHERIKSSON,ROLFJOHANSSONandANDERSROBERTSSON,ObserverbasedImpedanceControlinRobotics,5thIFACSymposiumNonlinearControlSystemsDNOLCOS01E,StPetersburg,Russia,July2001.
[14]CARSTENPREUCHE,GERDHIRZINGER,JEEHWANRYUandBLAKE
HANAFORD,Time
Domain
Passivity
Control
for
6
Degrees
of
Freedom
Haptic
Displays,2006(CITESEER)
[15]SYLVAINMARLIERE,ConceptionetRealisationdunNouvelOutilaRealiteMixteetRetourdEffortpourToucheretCreerlesNanomondes,ThesepourobtenirlegradededocteurdelINPG,SpcialitAutomatiqueProductique,2006.
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[16]KAZUMASAHIRAIandYOSHIAKISATOH,StabilityofaSystemwithStableTimeDelay,IEEETransactionsonAutomaticControl,Vol.AC25,No.3,June1980.
[17]PAOLOFIORINIandROBERTOOBOE,InternetBasedTelerobotics:ProblemsandApproaches,ICRA1997.
[18]ROBERTOOBOEandPAOLOFIORINI,ADesignandControlEnvironmentforInternetBasedTelerobotics,InternationJournalofRoboticsResearch,Spring1998.
[19]ANNIELUCIANI,DANIELAURMA,SYLVAINMARLIEREandJOELCHEVRIER,PRESENCE:TheSenseofBelievabilityofInaccessibleWorlds,ScienceDirect,Computer&Graphics28(2004)509517.
[20]KATHERINEJ.KUCHENBECKER,JUNEGYUPARKandGUNTERNIEMEYER,CharacterizingtheHumanWristforImprovedHapticInteraction,ProceedingsofIMECE2003.
[21]G.NIEMEYERandJ.E.SLOTINE,StableAdaptiveTeleoperation.IEEEJournalofOceanicEngineering,16:152162,January1991.
[22]N.DIOLAITI,G.NIEMEYER,F.BARBAGLIandJ.K.SALISBURY,ACriterionforthePassivityofHapticDevices,2005.
[23]NICOLADIOLAITI,GUNTERNIEMEYER,FEDERICOBARBAGLIandJ.KENNETHSALISBURY,StabilityofHapticRendering:Discretization,Quantization,TimeDelayandCoulombEffects,2005.
[24]KATHERINEJ.KUCHENBECKERandGUNTERNIEMEYERCancelingInducedMaster
Motion
In
Force
Reflecting
Teleoperation,ProceedingsofIMECE2004.
[25]DALEA.LAWRENCE,StabilityandTransparencyinBilateralTeleoperation,IEEETransactionsonRoboticsandAutomation,Vol.9,No.5,Oct1993.
[i]www.answers.com:somedefinitions
[ii]www.cs.cmu.edu/~baraff:AnIntroductiontoPhysicallyBasedModelling
[iii]http://www.catb.org/~esr/writings/taouu/html/ch02.html:Chapter2.History:ABrief
Historyof
User
Interfaces
[iv]http://en.wikipedia.org/wiki/Cathodic_ray_tube:HistoryofCathodicRayTubeandCRT
[v]http://sklabwww.pi.titech.ac.jp/~seahak/vr.html:SpidarofTokyoInstituteofTechnology
[vi]http://en.wikipedia.org/wiki/Retina:Retina
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5. AppendixA:ImpedanceandAdmitancemodeinControl
Inelectricalengineering,theadmittance(Y)istheinverseoftheimpedance(Z).TheSIunitofadmittanceisthesiemens.OliverHeavisidecoinedtheterminDecember1887.
where
Yistheadmittance,measuredinsiemens
Zistheimpedance,measuredinohms
Justasimpedanceiscomplexresistance,andtheconductanceGistheinverseG=1/RofresistanceR,admittanceisalsocomplexconductance.
Likewise,admittanceismadeupofarealpart(theconductance),andanimaginarypart(thesusceptanceB),shownbytheequation
Themagnitudeofadmittanceisgivenby:
where
Gistheconductance,measuredinsiemens
Bisthesusceptance,measuredinsiemens
Inmechanicalsystems(particularlyinthefieldofhaptics),anadmittanceisadynamicmappingfromforcetomotion.Inotherwords,anequation(orvirtualenvironment)describinganadmittancewouldhaveinputsofforceandwouldhaveoutputssuchaspositionorvelocity.So,anadmittancedevicewouldsensetheinputforceandadmit acertainamountofmotion.
Similartotheelectricalmeaningsofadmittanceandimpedance,animpedanceinthe
mechanicalsensecanbethoughtofastheinverse ofadmittance.Thatis,itisadynamicmappingfrommotiontoforce.Animpedancedevicewouldsensetheinputmotionandimpede themotionwithsomeforce.
Anexampleoftheseconceptsisavirtualspring.TheequationdescribingaspringisHookesLaw,
Iftheinputtothevirtualspringisthespringdisplacement,x,andtheoutputistheforcethatthevirtualspringapplies,F,thenthevirtualspringwouldbeclassifiedasanimpedance.Iftheinputtothevirtualspringistheforceappliedtothespring,F,andtheoutputisthespringdisplacement,x,thenthevirtualspringwouldbeclassifiedasanadmittance.
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5.1. Impedancecontrolvs.admittancecontrol
Therearetwomajorwaysinwhichahapticdevicecanbecontrolled,thesocalledimpedancecontrolandadmittancecontrolparadigms.Bothalgorithmsarediscussedbelow.
5.1.1. Impedancecontrol
Inimpedancecontrol,theparadigmis:theusermovesthedevice,andthedevicewillreactwithaforceifneeded.Thisisthebasicinteractionbetweentheuserandthecontrolloop.Viewedfromthecontrolloop,theparadigmis:displacementin forceout.
Insimulatedfreeair,theuserisfreetomovethedevice,andthemotordoesnotnot
havetodoanything.Incontrolterms:thegainfromchangesinpositiontochangesinmotorforceiszero.Thiswillholdevenifthedeviceisincontactwithahardphysicalsurface.Thereisnospecialstabilityproblemthere,sincetheobjectcanstoptheendeffectorwithoutanyspecialreactionbeingrequiredofthemotor.
Incontactwithasimulatedhardsurfacehowever,thereisastabilityproblem.Anysmallchangeinpositionwillcause averyhighriseinmotorreactionforcewhilethedeviceisincontactwiththevirtualwall.Thisimpliesaveryhighcontrolgainfrommeasureddevicepositiontomotorforce.Forstability,controlgainscannotbecomeinfinitelyhigh.Therefore,inanimpedancecontrollerthereisalimittothehardness or
stiffnessofavirtualsurfacethatcanberenderedstably.
5.1.2. Admittancecontrol
Inadmittancecontrol,theparadigmis:thedevicemeasurestheforcesthattheuserexertsonit,andreactswithmotion(acceleration,velocity,position).Viewedfromthecontrolloop,theparadigmis:forcein displacementout.
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Tosimulatefreeair,thedeviceneedstoaccelerateveryquicklyatthelightesttouch.Thismeansaveryhighcontrolgainfromforceinputtoaccelerationoutput.Averylowsimulatedmassmeansaveryhighcontrolgain.So,admittancecontrolleddeviceshaveapotentialstabilityprobleminfreeair,whenthemassneedstobelow.Thesameholdsonaphysicalhardsurface.Asmallmovementofthemachinewillgiveastrongriseincontactforefromthephysicalsurface.Itisthephysical
environmentwhichclosestheadmittancecontrolloopwithaveryhighgainfrompositiontoforcethistime,creatingcontactinstability.Onasimulatedvirtualsurfacehowever,averyhighforcewillcommandonlyaverysmallmotion.Infact, onforaninfinitelystiffsimulatedsurface,thecontrolgainfromforcetopositioniszero.
6. AppendixB:WordsExplanations
DelayjitterisonekindofjitterreferredtoinRTSP.
Itisthefluctuation/variationofendtoenddelayfromonepackettothenextpacketwithinthesamepacketstream/connection/flow.
Example:Packetsaretransmittedattheintervalof20ms.
Ifthe2ndpacketreachesafter30mswithrespecttothe1stpacketarrival.Jitter=10ms.Thisisreferringasdispersion.
Ifthe2ndpacketreachesafter10mswithrespecttothe1stpacketarrival.Jitter=+10ms.Thisisreferringasclumping.
7. AppendixC:Dualportispassiveandlosslesscommunicationline
DefinitionB.1:Annportissaidtobepassiveifandonlyifforanydependentsetofnportflows,
iv injectedintothesystem,andefforts jF appliedacrossthesystem:
0
( ) ( ) 0TF t v t dt
[ , ,..., ] ( )T n
F F F F L R= ( ) [ , ,..., ] ( )T nv t v v v L R=
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