Tactile feedback with adaptive controller for a force-reflecting haptic display. 1. Design

Author

Hasser, Christopher J. ; Daniels, Malcolm W.

Author_Institution

Human Syst. Center, Armstrong Lab., Wright-Patterson AFB, OH, USA

fYear

1996

fDate

29-31 Mar 1996

Firstpage

526

Lastpage

529

Abstract

Describes the development of custom-built tactile feedback hardware and its integration with an available force reflecting haptic interface. Design requirements were motivated strongly by the characteristics of the human tactile sense as well as the biomechanical characteristics of the human finger. The work explores the feasibility of various actuators, and selects a small solenoid actuator for application in a closed-loop force control tactile feedback system. System architecture is described, including a simple PI controller. A companion paper describes an adaptive controller with continuously variable gain scheduling that is based upon this PI controller, and includes an evaluation of the system

Keywords

adaptive control; biocontrol; feedback; mechanoception; solenoids; telecontrol; adaptive controller; biomechanical characteristics; closed-loop force control; continuously variable gain scheduling; force reflecting haptic interface; force-reflecting haptic display; human finger; human tactile sense; simple PI controller; small solenoid actuator; system architecture; tactile feedback; telerobotics; Actuators; Adaptive control; Control systems; Fingers; Force control; Force feedback; Haptic interfaces; Hardware; Humans; Programmable control;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Engineering Conference, 1996., Proceedings of the 1996 Fifteenth Southern

Conference_Location

Dayton, OH

Print_ISBN

0-7803-3131-1

Type

conf

DOI

10.1109/SBEC.1996.493294

Filename

493294