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Improving transparency of virtual coupling for haptic interaction with human force observer

Published online by Cambridge University Press:  02 July 2015

Myungsin Kim  and
Dongjun Lee
Myungsin Kim
Affiliation:
Department of Mechanical and Aerospace Engineering and IAMD, Seoul National University, Seoul, 151-744, Republic of Korea. E-mail: myungsinkim@snu.ac.kr
Dongjun Lee*
Affiliation:
Department of Mechanical and Aerospace Engineering and IAMD, Seoul National University, Seoul, 151-744, Republic of Korea. E-mail: myungsinkim@snu.ac.kr
*
*Corresponding author. E-mail: djlee@snu.ac.kr
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Summary

Relying solely on virtual springs and dampers, the transparency of standard virtual coupling suffers from the device-proxy coordination error when a large interaction force is engaged (e.g., contact tasks) and also from the unmodifiable inertias of the haptic device and the virtual proxy. To overcome these limitations, we propose a novel virtual coupling scheme, which, utilizing passive decomposition and a human force observer, can maintain the device-proxy coordination error even during contact tasks, while also allowing for scaling down (or up) the apparent inertia of the coordinated device-proxy system, thereby, substantially improving transparency of the standard virtual coupling. Experiments are performed to show the performance and passivity of the proposed virtual coupling. Minimum-possible passive inertia scaling is also theoretically established via some positive-real analysis.

Keywords

Human force observerpassive decompositionpassivitytransparencyvirtual coupling
Type
Articles
Information
Robotica , Volume 35 , Issue 2 , February 2017 , pp. 354 - 369
Copyright
Copyright © Cambridge University Press 2015 

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