|
Haptic Robotics
CLICK HERE to open this window without frames for printing
Figure 1: Haptic System
General Description
As we start the 21st century, programmable and intelligent mechanical systems are becoming more
prevalent in our lives. One particular area of interest is mechanical systems intended for use directly
with humans; such systems share desired workspace and interact with humans to complete specific tasks.
More explicitly, many of these devices consist of a mechanism an operator physically manipulates to
position a particular part of the device or “end point”. The mechanical system may merely record the
“end point’s” path or restrict an operator’s movements to a preprogrammed path, possibly assisting the
operator’s effort.
|
|
Figure 2
PTER (Passive Trajectory Enhancing Robot) |
Figure 3
HURBIRT (Human Robot Bilateral Research Tool) |
Such devices, as pictured in figure 2 & 3, are called haptic displays. Another way of thinking of a
haptic display is as a super joystick that is used to operate another robot or simulate a programmed
virtual environment. They resist the humans motion in certain directions, simulating barriers or
constraints on where the joystick can be moved based on feedback from the teleoperated robot or
programmed virtual environment. One such example is the virtual corridor depicted in Figure 3. In
this example the operator is allowed to freely move the haptic display when inside the corridor. When
outside the corridor the haptic display attempts to redirect the user back into the free area. One
important property of PTER is that it is a passive haptic display and does not use motors to simulate
these barriers or constraints, but can only resist motion in the unwanted directions by redirecting or
dissipating energy through clutches, brakes. Other passive haptic displays utilize variable transmissions
to redirect user supplied energy or to reduce the degree of freedom of a device so as to follow a specified
path. On the other hand, HURBIRT is an active haptic display that utilizes back-drive-able brushless motors
to power the individual links.
Figure 4
IMDL's Focus
Intelligent Machine Dynamics Laboratory is investigating various topics in the Haptics area. Current projects
are addressing inherently passive devices, stability of active haptic devices, bilateral teleoperation over
the Internet, and design of electro rheological brakes / clutches as passive actuators.
Additional Information
Review the following links for additional information regarding the project, most recent updates, and papers. If
you have any questions please feel free to contact the students involved.
- Passive Haptic Robotics
Further Information on Passive Haptics in the Intelligent Machine Dynamics Laboratory
- Active Haptic Robotics
Further Information on Active Haptics & Teleoperation in the Intelligent Machine Dynamics Laboratory
People involved with this project
Faculty:
Current Students:
Related Papers / Theses
Under Construction
| 
