Title:
Control limitation analysis for dissipative passive haptic interfaces

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dc.contributor.advisor Book, Wayne J.
dc.contributor.author Gao, Dalong en_US
dc.contributor.committeeMember Arkin, Ronald
dc.contributor.committeeMember DeWeerth, Steve
dc.contributor.committeeMember Ebert-Uphoff, Imme
dc.contributor.committeeMember Vito, Raymond
dc.contributor.department Mechanical Engineering en_US
dc.date.accessioned 2006-01-18T22:18:57Z
dc.date.available 2006-01-18T22:18:57Z
dc.date.issued 2005-11-18 en_US
dc.description.abstract This research addresses the ability of dissipative passive actuators to generate control effects on a passive haptic interface. A haptic display is a human-machine interface that constructs a sensation of touch for the human operator. Applications can be found in various industries, space, medicine and construction etc. A dissipative passive haptic display contains passive actuators that can remove energy from the system by resisting motions in the system. The advantage of a dissipative passive haptic display is better safety compared to an active display. Its disadvantage is the limited control ability from the passive actuators. This research starts with the identification of the control ability and limitations of dissipative passive haptic interfaces. The ability is identified as the steerability, the ability to redirect motions of a manipulator. The force generation analysis of each individual actuator is then selected as an approach to evaluate the steerability. Steerability metrics are defined to evaluate the steerability. Even though non-redundant manipulators dont have desired steerability, optimal steering configurations are found for the best operation. Steerability is improved by redundancy in serial or parallel structures. A theorem is developed to evaluate steerability for redundant manipulators. The influence of system dynamics on their steerabilities is discussed. Previously developed haptic interfaces are evaluated based on their steerabilities. Steerability analysis of three-dimensional haptic interfaces is also given to a limited extent as an extension of the two-dimensional cases. Brakes and clutches are the two types of dissipative passive actuators in this research. en_US
dc.description.degree Ph.D. en_US
dc.format.extent 2002235 bytes
dc.format.mimetype application/pdf
dc.identifier.uri http://hdl.handle.net/1853/7519
dc.language.iso en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Tactile sensors en_US
dc.subject Human-computer interaction
dc.subject Touch
dc.subject Actuators
dc.subject Dissipative passive haptic interface
dc.subject Steerability
dc.subject Motion redirection
dc.subject Control limitation
dc.title Control limitation analysis for dissipative passive haptic interfaces en_US
dc.type Text
dc.type.genre Dissertation
dspace.entity.type Publication
local.contributor.advisor Book, Wayne J.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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relation.isOrgUnitOfPublication c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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