Performance Metrics For Haptic Interfaces
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Performance Metrics For Haptic Interfaces
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Author : Evren Samur
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-07-13
Performance Metrics For Haptic Interfaces written by Evren Samur and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-07-13 with Computers categories.
Haptics technology is being used more and more in different applications, such as in computer games for increased immersion, in surgical simulators to create a realistic environment for training of surgeons, in surgical robotics due to safety issues and in mobile phones to provide feedback from user action. The existence of these applications highlights a clear need to understand performance metrics for haptic interfaces and their implications on device design, use and application. Performance Metrics for Haptic Interfaces aims at meeting this need by establishing standard practices for the evaluation of haptic interfaces and by identifying significant performance metrics. Towards this end, a combined physical and psychophysical experimental methodology is presented. Firstly, existing physical performance measures and device characterization techniques are investigated and described in an illustrative way. Secondly, a wide range of human psychophysical experiments are reviewed and the appropriate ones are applied to haptic interactions. The psychophysical experiments are unified as a systematic and complete evaluation method for haptic interfaces. Finally, synthesis of both evaluation methods is discussed. The metrics provided in this state-of-the-art volume will guide readers in evaluating the performance of any haptic interface. The generic methodology will enable researchers to experimentally assess the suitability of a haptic interface for a specific purpose, to characterize and compare devices quantitatively and to identify possible improvement strategies in the design of a system.
Systematic Evaluation Methodology And Performance Metrics For Haptic Interfaces
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Author : Evren Samur
language : en
Publisher:
Release Date : 2010
Systematic Evaluation Methodology And Performance Metrics For Haptic Interfaces written by Evren Samur and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with categories.
Stability Performance And Control Of High Power High Performance Kinesthetic Haptic Interfaces
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Author : Chembian Parthiban
language : en
Publisher:
Release Date : 2019
Stability Performance And Control Of High Power High Performance Kinesthetic Haptic Interfaces written by Chembian Parthiban and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with categories.
There has been significant progress in the performance evaluation and control of low power impedance-based haptic devices. While recent research efforts have focussed in the design and development of high power haptic devices, there is a lot of potential to develop performance evaluation techniques and alternative control approaches to improve the performance and stability, specifically for high power admittance-based and hybrid actuation haptic interfaces. We present an analytical model developed to investigate the performance limitations of admittance-based haptic interfaces. The model is used to investigate the effects that position control bandwidth and outer loop delay have on the stability and rendering range of an admittance-based interface. We show that the performance, as defined by both the minimum renderable mass and the rendering frequency range, is directly related to the closed-loop bandwidth of the inner-position loop and the amount of additional delay in the outer rendering loop. Our results are validated using a one degree-of-freedom admittance-based device. Evaluating the transparency or output impedance more generally, of admittance-type haptic devices is challenging due to their inherently non-back-drivable mechanical characteristics. To address this, we describe a new, simplified evaluation approach that eliminates the need for external test fixtures. The simplified approach relies on the easily obtainable closed-loop position control response of the device in combination with a device/system dynamic model. In addition to evaluating output impedance, the approach can be used to evaluate the overall stable rendering range of the device. Finally, the limitations of the approach are discussed. Hybrid actuation approaches for haptic interfaces generally suffer from asymmetry in rendering and torque capabilities. We describe the design of a high-performance balanced hybrid haptic device, which addresses asymmetry by combining a high-power, low-impedance active compliant actuation (series-elastic actuator) with energy absorbing high-force passive actuation in parallel with a fast, low-power secondary active actuation. We describe the actuation, design and control approaches and experimentally validate the approach with a one degree-of-freedom testbed. The performance is compared with active only approach and results show significant improvements in stability and rendering range of the device.
Control Design For Haptic Systems
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Author : Suyong Kim
language : en
Publisher: Springer Nature
Release Date :
Control Design For Haptic Systems written by Suyong Kim and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on with categories.
Implications Of Machine Design For The Haptic Display Of Detail
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Author : Marcia E. Kilchenman
language : en
Publisher:
Release Date : 2001
Implications Of Machine Design For The Haptic Display Of Detail written by Marcia E. Kilchenman and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001 with Manipulators (Mechanism) categories.
Engineering Haptic Devices
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Author : Thorsten A. Kern
language : en
Publisher: Springer Nature
Release Date : 2022-11-05
Engineering Haptic Devices written by Thorsten A. Kern and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-11-05 with Computers categories.
This is an open access book. In this third edition of Engineering Haptic Devices the software part was rewritten from scratch and now includes even more details on tactile and texture interaction modalities. The kinematics section was improved to extend beyond a pure knowledge explanation to a comprehensive guideline on how to actually do and implement haptic kinematic functions. The control section was reworked incorporating some hands-on experience on control implementation on haptic systems. The system, actuator and sensor design chapters were updated to allow easier access to the content. This book is written for students and engineers faced with the development of a task-specific haptic system. Now 14 years after its first edition, it is still a reference for the basics of haptic interaction and existing haptic systems and methods as well as an excellent source of information for technical questions arising in the design process of systems and components. Following a system engineering approach, it is divided into two parts with Part I containing background and reference information as a knowledge basis. Typical application areas of haptic systems and a thorough analysis of haptics as an interaction modality are introduced. The role of users in the design of haptic systems is discussed and relevant design and development stages are outlined. Part II presents all related challenges in the design of haptic systems including general system architecture and control structures, kinematics, actuator principles and all types of sensors you may encounter doing haptic device development. Beside these hardware and mechanical topics, further chapters examine state-of-the-art interfaces to operate the devices, and hardware and software development to push haptic systems to their limits.
Haptic Human Computer Interaction
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Author : Stephen Brewster
language : en
Publisher: Springer
Release Date : 2003-05-15
Haptic Human Computer Interaction written by Stephen Brewster and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003-05-15 with Computers categories.
Haptic human-computer interaction is interaction between a human computer user and the computer user interface based on the powerful human sense of touch. Haptic hardware has been discussed and exploited for some time, particularly in the context of computer games. However, so far, little attention has been paid to the general principles of haptic HCI and the systematic use of haptic devices for improving efficiency, effectiveness, and satisfaction in HCI. This book is the first one to focus on haptic human-computer interaction. It is based on a workshop held in Glasgow, UK, in August / September 2000. The 22 revised full papers presented were carefully reviewed and selected from 35 submissions. Besides a brief historic survey, the book offers topical sections on haptic interfaces for blind people, collaborative haptics, psychological issues and measurement, and applications of haptics.
Engineering Haptic Devices
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Author : Christian Hatzfeld
language : en
Publisher: Springer
Release Date : 2014-09-15
Engineering Haptic Devices written by Christian Hatzfeld and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-09-15 with Computers categories.
In this greatly reworked second edition of Engineering Haptic Devices the psychophysic content has been thoroughly revised and updated. Chapters on haptic interaction, system structures and design methodology were rewritten from scratch to include further basic principles and recent findings. New chapters on the evaluation of haptic systems and the design of three exemplary haptic systems from science and industry have been added. This book was written for students and engineers that are faced with the development of a task-specific haptic system. It is a reference book for the basics of haptic interaction and existing haptic systems and methods as well as an excellent source of information for technical questions arising in the design process of systems and components. Divided into two parts, part 1 contains typical application areas of haptic systems and a thorough analysis of haptics as an interaction modality. The role of the user in the design of haptic systems is discussed and relevant design and development stages are outlined. Part II presents all relevant problems in the design of haptic systems including general system and control structures, kinematic structures, actuator principles and sensors for force and kinematic measures. Further chapters examine interfaces and software development for virtual reality simulations.
Beem
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Author :
language : en
Publisher:
Release Date :
Beem written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on with Beem Family categories.
Advances In Haptics
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Author : Mehrdad Hosseini Zadeh
language : en
Publisher: IntechOpen
Release Date : 2010-04-01
Advances In Haptics written by Mehrdad Hosseini Zadeh and has been published by IntechOpen this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-04-01 with Medical categories.
Haptic interfaces are divided into two main categories: force feedback and tactile. Force feedback interfaces are used to explore and modify remote/virtual objects in three physical dimensions in applications including computer-aided design, computer-assisted surgery, and computer-aided assembly. Tactile interfaces deal with surface properties such as roughness, smoothness, and temperature. Haptic research is intrinsically multi-disciplinary, incorporating computer science/engineering, control, robotics, psychophysics, and human motor control. By extending the scope of research in haptics, advances can be achieved in existing applications such as computer-aided design (CAD), tele-surgery, rehabilitation, scientific visualization, robot-assisted surgery, authentication, and graphical user interfaces (GUI), to name a few. Advances in Haptics presents a number of recent contributions to the field of haptics. Authors from around the world present the results of their research on various issues in the field of haptics.