• Corpus ID: 7180250


  author={Davin K. Swanson},
The problem of applying an energetically passive dissipative haptic interface to a path-following application is addressed. This consists of controlling a man-machine system where the human operator provides all motive power, and the machine may dissipate or redirect this power. The goal of a controller is to constrain the operator-induced motion to a single arbitrary degree-of-freedom. This research will develop a generalized methodology for developing a path-following controller for any… 

Development of an Improved Dissipative Passive Haptic Display

Special thanks also goes my colleagues in the Intelligent Machine Dynamics Laboratory and surrounding labs for the contributions they made to this research. They include, but are not limited to, L.


Abstract The basis of haptic teleoperation focuses on augmenting a user's ability to perform a task in a remote environment. Using an energetically passive haptic master assures that the energy can

Modeling and control of an improved dissipative passive haptic display

  • M. R. ReedW. Book
  • Engineering
    IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
  • 2004
This work investigates the modeling and control of a new dissipative passive haptic display that uses magnetorheological brakes as actuators and presents a first order system approach as a tool for modeling MR fluid behavior in a low-speed braking device.

Dynamic compensating controller for passive haptic manipulators in teleoperation

The work presented here will explore the use of a passive haptic device specifically with respect to teleoperation and present a new algorithm for determining feedback that improves the transparency, a dynamic compensating controller.

On-Off Control of a Passive Haptic Master During Teleoperation

The main function of haptic teleoperation is to provide the user with force feedback from a remote environment. Use of a passive haptic master complicates the replication of remote forces due to the

Controlling a Passive Haptic Master During Teleoperation Ph

The primary goal of the research proposed here is to develop a control scheme for passive haptic devices used as a master device during teleoperation. Haptic, or force-feedback devices can be divided

Design of A Novel Passive Binary-Controlled Variable Stiffness Joint (BpVSJ) Towards Passive Haptic Interface Application

The design, development and experimental validation of a novel Binary-Controlled Variable Stiffness Joint towards haptic teleoperation and human interaction manipulators applications and the mathematical stiffness modeling of the proposed actuator mechanism are detailed.

A passive stringed haptic system for immersive environments

A passive haptic feedback system that can provide the user with grounded forces in a 3D manipulation space and that enhances user performance compared to the purely visual situation is proposed.

Elastic-Move: Passive Haptic Device with Force Feedback for Virtual Reality Locomotion

The “Elastic-Move” is introduced, an approach for cost-effectively using passive force feedback to reduce VR sickness and allow users to maintain immersion and sense of direction, and two haptic devices with force feedback: Elastic-Rope and Elastic-Box are proposed.



Implementation of a six-degree-of-freedom manual controller with passive force feedback

Initial results indicated that force-feedback may only be an improvement in situations where visual cues are not clear, and may actually be a hindrance when a clear line of sight exists, so future research is to include contour following and bead-on-wire tests.

Torque control of a redundantly actuated passive manipulator

  • H. DavisW. Book
  • Engineering
    Proceedings of the 1997 American Control Conference (Cat. No.97CH36041)
  • 1997
The study of passivity in the robotics domain has been motivated by safety and stability concerns in applications such as haptic displays, surgical robots, teleoperation, and manufacturing. This

Experimental evaluation of a new braking system for use in passive haptic displays

Passive haptic displays have several advantages when compared to active devices. Safety elements associated with active haptic displays may make them undesirable for certain applications. One method

Influence of actuator dynamics on passive haptic interface performance

A dynamic simulation of a passive haptic interface is enhanced by the addition of an actuator model. The actuator of this haptic display (robot) is a controlled friction device. The robot utilizes

The Concept and Implementation of a Passive Trajectory Enhancing Robot

A novel controlled passive device is described which allows its end effector to be pushed only along a speGified but arbitrary path and shows feasibility through initial experiments with simple control of a protbtype system.

Cohots : Robots for Collaboration with Human Operators

This paper focuses on the simplest possible cobot, which has only a single joint (a steerable wheel), and two control modes of this “unicycle cobot”, termed “virtual caster” and “ virtual wall” control, are developed in detail.

Design of life-size haptic environments

Brake-actuated haptic devices, a subset of passive haptic devices, are not yet common, so their capabilities and limitations are only super cially understood. In this paper, we identify an optimal

Design of Life-Size Haptic Environment

This paper identifies an optimal kinematics, and introduces a prototype of a life-size brake-actuated haptic device, and conducted experiments with human subjects to evaluate the efficacy of passively created virtual environments.

Obstacle avoidance methods for a passive haptic display

  • D. K. SwansonW. Book
  • Engineering
    2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556)
  • 2001
An existing two degree-of-freedom passive haptic display is used to perform obstacle avoidance tasks. Two types of controllers are examined: one attempts to control the velocity direction of the

Extender: a case study for human-robot interaction via transfer of power and information signals

  • H. Kazerooni
  • Computer Science
    Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication
  • 1993
The author's research objective is to determine the ground rules for the control of robotic systems worn by humans through the design, construction, and control of several prototype experimental direct-drive/non-direct-drive multi-degree-of-freedom hydraulic/electric extenders.