TY - Generic T1 - Transparency of a phantom premium haptic interface for active and passive human interaction T2 - Proceedings of the American Control Conference Y1 - 2005 A1 - McJunkin, Samuel A1 - O'Malley, M.K. A1 - Speich, John E. KW - Acoustic impedance KW - Bandwidth KW - Manipulators AB -

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'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. © 2005 AACC.

JF - Proceedings of the American Control Conference CY - Portland, OR, United States VL - 5 N1 -

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

ER - TY - Generic T1 - Design of a haptic arm exoskeleton for training and rehabilitation T2 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC Y1 - 2004 A1 - Abhishek Gupta A1 - O'Malley, M.K. KW - Actuators KW - Bandwidth KW - Damping KW - Degrees of freedom (mechanics) KW - Friction KW - Human computer interaction KW - Kinematics KW - Robotic arms KW - Robots KW - Sensors KW - Stiffness AB -

A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of additional parameters and constraints including space and weight limitations, workspace requirements and the kinematic constraints placed on the device by the human arm. In this context, we present the design of a five degree-of-freedom haptic arm exoskeleton for training and rehabilitation in virtual environments. The design of the device, including actuator and sensor selection, is discussed. Limitations of the device that result from the above selections are also presented. The device is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training. Copyright © 2004 by ASME.

JF - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC CY - Anaheim, CA, United States VL - 73 N1 -

Haptic arm exoskeleton;Inertia;Structural stiffness;Kinesthetic feedback;

ER - TY - Generic T1 - Force saturation, system bandwidth, information transfer, and surface quality in haptic interfaces T2 - Proceedings - IEEE International Conference on Robotics and Automation Y1 - 2001 A1 - Marcia Kilchenman A1 - Michael Goldfarb KW - Bandwidth KW - Computer simulation KW - Computer software KW - Feedback KW - Hardness KW - Manipulators AB -

This paper presents a two-part study of the effects of maximum endpoint force and system bandwidth on haptic perception. First, size identification experiments were performed to determine the effects of system quality, in terms of these two system parameters, on the ability of a human to identify square cross-section ridges by size in a simulated environment. Then, discrimination experiments were performed to determine relationships between haptic interface machine parameters and simulation quality in terms of perceived surface hardness. Results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of force feedback and system bandwidth, yet subjects can perceive improvements in simulated surface quality as levels are further increased.

JF - Proceedings - IEEE International Conference on Robotics and Automation CY - Seoul VL - 2 UR - http://dx.doi.org/10.1109/ROBOT.2001.932803 N1 -

Information transfer;

ER -