Tactile feedback with adaptive controller for a force-reflecting haptic display. 2. Improvements and evaluation

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

530

Lastpage

533

Abstract

For pt. 1 see ibid., p.526-9 (1996). This paper describes the initial performance evaluation of a tactile feedback actuator introduced in pt. 1. An adaptive PI algorithm using continuously variable gain scheduling helps to compensate for nonlinearities in the solenoid actuator. The closed-loop behavior meets performance specifications, but the mass added to the force-reflecting haptic interface degrades its performance. Improvements in future prototypes may reduce the mass added by the tactile feedback hardware by over 30%. The work concludes with recommendations for psychophysical research that will increase understanding of human performance in tasks using haptic feedback devices

Keywords

adaptive control; biocontrol; feedback; mechanoception; solenoids; adaptive PI algorithm; adaptive controller; closed-loop behavior; continuously variable gain scheduling; force-reflecting haptic display; haptic feedback devices; human performance understanding; performance evaluation; psychophysical research; solenoid actuator nonlinearities compensation; tactile feedback; tactile feedback hardware; Actuators; Adaptive control; Degradation; Force control; Force feedback; Gain; Haptic interfaces; Programmable control; Scheduling algorithm; Solenoids;

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.1996.493295

Filename

493295