Guanyang Liu

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It is difficult to implement a stable and realistic haptic simulation for cutting rigid objects that is based on a damping model because of an inevitable conflict between stability and high output force. This paper presents passivity techniques to show that an excessive damping coefficient causes the output stiffness to exceed the maximum output stiffness(More)
In this paper we study on haptic collaboration in a maze game over computer network. Two players located at separated places operate each haptic device to collaboratively finish the game task. Herein, a new collaboration mode of manipulation - separate DOF control is proposed for the first time. Separate DOF control here means each player controls one DOF(More)
This paper presents a cutting force model for dental training system with haptic display capability. The force model is proposed by theoretic analysis of the cutting force between dental tools and tooth. A damping matrix is developed for obtaining a unified formulation for all components of cutting forces. All factors that affect the cutting force are(More)
The “hand in hand” approach has been validated as effective in human motor skill training, such as handwriting, drawing, driving and so on. This paper proposes a networked haptic interaction system to simulate the “hand in hand” training scheme for tank gunnery which requires tank gunners to complete tasks accurately and quickly.(More)
A study on tank gunnery motor skill training is introduced in this paper. We developed a two-mode system used for teaching and training. In the haptic guidance mode, the trainee is passive and experiences position playback of the expert's motion with a proportional-derivation (PD) controller. In the path constraining mode, the trainee operates the haptic(More)
Feedback force is very important for novices to simulate tooth preparation by using the haptic interaction system (dental training system) in a virtual environment. In the process of haptic simulation, the fidelity of generated forces by a haptic device decides whether the simulation is successful. A force model computes feedback force, and we present an(More)
This paper introduces networked tank gunnery skill training based on haptic interaction. “Hand in hand” training mode is implemented by constructing a networked haptic display system. A teacher and a trainee can respectively manipulate his own haptic device to realize skill transferring. In this process, the trainee can experience the(More)
As an essential part of the Mycobacterium tuberculosis automatic testing system, a 3-DOF robot for transferring testing samples has been developed in this paper. Mechanical structure of the robot has been first presented. The control system of the robot is then studied. A closed loop control method of stepping motors, which are motion actuators of each(More)