@proceedings {06169823659, title = {Transparency extension in haptic interfaces via adaptive dynamics cancellation}, volume = {74 DSC}, number = {2 PART B}, year = {2005}, note = {

Transparency extension;Robotic manipulators;Transparency transfer function (TTF);Model cancellation techniques;

}, pages = {1581 - 1587}, address = {Orlando, FL, United States}, 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 methodsfor haptic interactions because it does not rely on linear assumptions near a particular operating point and will adapt to capture unmodeled features. Copyright {\textcopyright} 2005 by ASME.

}, keywords = {Adaptive control systems, Computer simulation, Linear systems, Manipulators, Mathematical models, Transfer functions}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/mcjunkin2005asme.pdf}, author = {McJunkin, Samuel and Speich, John E. and O{\textquoteright}Malley, M.K.} } @proceedings {05359336514, title = {Transparency of a phantom premium haptic interface for active and passive human interaction}, volume = {5}, year = {2005}, note = {

Active user induced (AUI);Phantom manipulators;Human operators;

}, pages = {3060 - 3065}, address = {Portland, OR, United States}, abstract = {

This paper compares two methods for determining the transparency bandwidth of an impedance based haptic interface with a Phantom 1.0A haptic device. Active user induced (AUI) interaction tests, where the system excitation is generated by a human user, show that transparency bandwidth is limited to approximately 2 Hz. Passive user induced (PUI) interaction tests, where the system excitation is generated by the haptic device with a passive human operator, show that bandwidth can extend up to 50 Hz. Experimental results show that the apparent bandwidth limitations for the AUI interaction tests are dependent on the human user{\textquoteright}s inability to excite higher frequencies. Consequently, this measurement approach is insufficient for determining system bandwidth of the human operator-haptic interface system. Furthermore, data seem to indicate that there is no appreciable difference in the ability of the Phantom manipulator to display environmental impedances in either AUI or PUI interactions regardless of the user. {\textcopyright} 2005 AACC.

}, keywords = {Acoustic impedance, Bandwidth, Manipulators}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/60-Full\%20Text.pdf}, author = {McJunkin, Samuel and O{\textquoteright}Malley, M.K. and Speich, John E.} }