MIRA University of Twente
Department of Biomechanical Engineering

CTW - BW

Simulating haptic performance of force controllers

 

Location:

Intern

 

 

Project:

Lopes

Supervisors:

Jos meuleman (contact)

 

 

Starting date:

asap

http://www.jneuroengrehab.com/content/figures/1743-0003-6-40-1-l.jpgIntroduction

Haptic devices interact physically with humans. User force is read as input, the device displays a force to the user in order to achieve haptic feedback. The applications vary from simulating virtual environments to assistive devices, from fingergrip devices to force driven leg orthoses. Different applications require different haptic performance. Yet suitable haptic performance measures are rare. Why do force feedback devices often not feel as good as they promised?

Objectives

http://bobspaller.com/images/SensAble%20PHANTOM%20Omni.jpgSimulate force controlled devices and quantify their haptic performance. Identify the critical parameters.

Methods

·

Literature study: Identify haptic performance criteria. Focus on human perception

·

Categorize haptic requirements by application area

·

Collect and assemble virtual models of force feedback controllers (series elastic actuator and admittance control)

·

Update the virtual models with friction, torque ripple etc

·

Simulate haptic performance of the models

·

Sensitivity analysis to find the critical parameters of the controller

Further information

If you are interested, please contact Jos Meuleman (j.h.meuleman@utwente.nl)