%0 Conference Proceedings %B 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS) %D 2008 %T Passive and active kinesthetic perception just-noticeable-difference for natural frequency of virtual dynamic systems %A Yanfang Li %A Ali Israr %A Volkan Patoglu %A O'Malley, M.K. %K Haptic interfaces %K visual perception %X

This paper investigates the just-noticeable-difference (JND) for natural frequency of virtual second order dynamic systems. Using a one degree-of-freedom haptic device, visual and/or haptic sensory feedback were presented during interactions with the system. Participants were instructed to either perceive passively or actively excite the system in order to discriminate natural frequencies. The JND for this virtual resonance task ranged from 3.99 % to 6.96 % for reference frequencies of 1 Hz and 2 Hz. Results show that sensory feedback has a significant effect on JND in passive perception, with combined visual and haptic feedback enabling the best discrimination performance. In active perception, there is no significant difference on JND with haptic and combined visual and haptic feedback. There is also no significant difference between active perception and passive perception for this JND experiment. The presentation of systems with equivalent natural frequencies but different spring stiffness resulted in no large bias toward larger stiffness and no significant difference in JND for equivalent systems. This finding indicates that human participants do not discriminate natural frequency based on the maximum force magnitude perceived, as indicated by prior studies.

%B 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS) %I IEEE %C Reno, NE, USA %P 25 - 31 %8 03/2008 %G eng %U http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4479908 %M 9872945 %R 10.1109/HAPTICS.2008.4479908 %> https://mahilab.rice.edu/sites/default/files/publications/58-HapticSymposium2008_Li.pdf %0 Conference Proceedings %B ASME International Mechanical Engineering Congress and Exposition, Proceedings %D 2007 %T Disturbance observer based closed loop force control for haptic feedback %A Abhishek Gupta %A O'Malley, M.K. %A Volkan Patoglu %K Computer simulation %K Force control %K Haptic interfaces %K Robotics %K Robustness (control systems) %X

Most commonly used impedance-type haptic interfaces employ open-loop force control under the assumption of pseudostatic interactions. Advanced force control in such interfaces can increase simulation fidelity through improvement of the transparency of the device, and can further improve robustness. However, closed loop force-feedback is limited both due to the bandwidth limitations of force sensing and the associated cost of force sensors required for its implementation. In this paper, we propose the use of a nonlinear disturbance observer for estimation of contact forces during haptic interactions. This approach circumvents the traditional drawbacks of force sensing while exhibiting the advantages of closed-loop force control in haptic devices. The feedback of contact force information further enables implementation of advanced robot force control techniques such as robust hybrid impedance and admittance control. Simulation and experimental results, utilizing a PHANToM Premium 1.0A haptic interface, are presented to demonstrate the efficacy of the proposed approach. Copyright © 2007 by ASME.

%B ASME International Mechanical Engineering Congress and Exposition, Proceedings %C Seattle, WA, United States %V 9 PART B %P 1343 - 1349 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/50-gupta-imece07.pdf