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

Singh, Harsimran; Jafari, Aghil; Ryu, Jee-Hwan

Abstract

There have been numerous approaches that have been proposed to enlarge the impedance range, however it is still a challenging issue to increase the rate-hardness of haptic interaction while maintaining stability. The actual perceived rate-hardness has been much lower than what physical systems have, and it hasn't been enough to satisfy what users expect to feel. While one of the state of the art method for high stiffness haptic interaction was able to display 3 N/mm maximum stiffness with Phantom Premium 1.5A [1], the newly proposed Successive Force Augmentation (SFA) approach [2] was able to display 5 N/mm with the same hardware. However, SFA showed limitation to increase the rate-hardness which is sacrificed in order to maintain stability. In this paper, previously proposed SFA approach is extended to increase the rate-hardness while maintaining stability. This was possible by using the original value of the stiffness for feedback force calculation during the transient response followed by low value of stiffness in the rendering of the state dependent linear force feedback together with feedforward force offset. Experimental evaluation conducted with Phantom Premium 1.5A showed a much higher achieved rate-hardness and displayed stiffness when compared to conventional approaches.

• Presentation Conference Type: Conference Paper (Published)
• Conference Name: World Haptics Conference (WHC), 2017 IEEE
• Start Date: Jun 6, 2017
• End Date: Jun 9, 2017
• Acceptance Date: Jun 6, 2017
• Publication Date: Jun 6, 2017
• Deposit Date: Sep 1, 2017
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Peer Reviewed: Peer Reviewed
• Pages: 653-658
• Keywords: force, haptic interfaces, impedance, pressing, damping, feedforward neural networks, phantoms
• Public URL: https://uwe-repository.worktribe.com/output/895790
• Publisher URL: http://dx.doi.org/10.1109/WHC.2017.7989978
• Additional Information: Title of Conference or Conference Proceedings : 2017 IEEE World Haptics Conference (WHC)
• Contract Date: Sep 1, 2017