Enhancing the rate-hardness of haptic interaction: Successive force augmentation approach

Singh, Harsimran; Janetzko, Dominik; Jafari, Aghil; Weber, Bernhard; Lee, Chan Il; Ryu, Jee Hwan

Abstract

© 1982-2012 IEEE. There have been numerous approaches that have been proposed to enlarge the impedance range of haptic interaction while maintaining stability. However, enhancing the rate-hardness of haptic interaction while maintaining stability is still a challenging issue. The actual perceived rate-hardness has been much lower than what the users expect to feel. In this paper, we propose the successive force augmentation (SFA) approach, which increases the impedance range by adding a feed-forward force offset to the state-dependent feedback force rendered using a low stiffness value. This allows the proposed approach to display stiffness of up to 10 N/mm with Phantom Premium 1.5. It was possible to further enhance the rate-hardness by using the original value of virtual environment stiffness for feedback force calculation during the transient response followed by normal SFA. Experimental evaluation for multi-DoF virtual environment exhibited a much higher displayed stiffness and rate-hardness compared to conventional approaches. Two user studies revealed that the increase of rate-hardness due to SFA allowed the participants to have a faster reaction time to an unexpected collision with a virtual wall and accurately discriminate between four virtual walls of different stiffness.

• Journal Article Type: Article
• Acceptance Date: May 1, 2019
• Online Publication Date: May 29, 2019
• Publication Date: Jan 1, 2020
• Deposit Date: May 9, 2019
• Publicly Available Date: Jun 3, 2019
• Journal: IEEE Transactions on Industrial Electronics
• Print ISSN: 0278-0046
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 67
• Issue: 1
• Pages: 809-819
• DOI: https://doi.org/10.1109/TIE.2019.2918500
• Keywords: haptics and haptic interface, passivity criterion, rate-hardness, physical human-robot interaction
• Public URL: https://uwe-repository.worktribe.com/output/847516
• Publisher URL: https://doi.org/10.1109/TIE.2019.2918500
• Additional Information: Additional Information : (c) 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
• Contract Date: May 9, 2019