Possible Methods for Biodynamic Feedthrough Compensation in Backhoe Operation
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Humphreys, Heather C.
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Abstract
This research presents an investigation on the effects of biodynamic feedthrough on an advanced backhoe control system. This previously developed backhoe user interface uses coordinated position control with haptic feedback and is used as a testbed for this research. Results indicate that the coordinated control provides more intuitive operation that is easy to learn, and the haptic feedback relays meaningful information back to the user in the form of force signals from digging forces and system limitations. However, they also show that the current system has significant problems with biodynamic feedthrough. Biodynamic feedthrough refers to the phenomenon where the motion of the controlled device excites motion of the operator, resulting in undesirable forces applied to the input device and control performance degradation. According to the literature, and to industry backhoe and excavator interface designers, this is also a significant problem in state-of-the-art user interfaces. This work presents simulation studies on several possible methods for biodynamic feedthrough compensation.
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2010-06
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Proceedings