Title:
Improved Design and Performance of Haptic Two-Port Networks through Force Feedback and Passive Actuators

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dc.contributor.advisor Book, Wayne J.
dc.contributor.author Tognetti, Lawrence Joseph en_US
dc.contributor.committeeMember Ebert-Uphoff, Imme
dc.contributor.committeeMember Pritchett, Amy
dc.contributor.committeeMember Sadegh, Nader
dc.contributor.committeeMember Taylor, David
dc.contributor.department Mechanical Engineering en_US
dc.date.accessioned 2005-07-28T17:50:31Z
dc.date.available 2005-07-28T17:50:31Z
dc.date.issued 2005-01-18 en_US
dc.description.abstract Haptic systems incorporate many different components, ranging from virtual simulations, physical robotic interfaces (super joysticks), robotic slaves, signal communication, and digital control; two-port networks offer compact and modular organization of such haptic components. By establishing specific stability properties of the individual component networks, their control parameters can be tuned independently of external components or interfacing environment. This allows the development of independent haptic two-port networks for interfacing with a class of haptic components. Furthermore, by using the two-port network with virtual coupling paradigm to analyze linear haptic systems, the complete duality between an admittance controlled device with velocity (position) feedback and virtual coupling can be compared to an impedance controlled device with force feedback and virtual coupling. This research first provides background on linear haptic two-port networks and use of Llewelyn's Stability Criterion to prove their stability when interfaced with passive environments, with specific comments regarding application of these linear techniques to nonlinear systems. Furthermore, man-machine interaction dynamics are addressed, with specific attention given to the human is a passive element assumption and how to include estimated human impedance / admittance dynamic limits into the two--port design. Two--port numerical tuning algorithms and analysis techniques are presented and lay the groundwork for testing of said haptic networks on HuRBiRT (Human Robotic Bilateral Research Tool), a large scale nonlinear hybrid active / passive haptic display. First, two-port networks are numerically tuned using a linearized dynamic model of HuRBiRT. Resulting admittance and impedance limits of the respective networks are compared to add insight on the advantages / disadvantages of the two different implementations of haptic causality for the same device, with specific consideration given to the advantage of adding force feedback to the impedance network, selection of virtual coupling form, effects of varying system parameters (such as physical or EMF damping, filters, etc.), and effects of adding human dynamic limits into the network formulation. Impedance and admittance two-port network implementations are experimentally validated on HuRBiRT, adding further practical insight into network formulation. Resulting experimental networks are directly compared to those numerically formulated through use of HuRBiRT's linearized dynamic models. en_US
dc.description.degree Ph.D. en_US
dc.format.extent 2157438 bytes
dc.format.mimetype application/pdf
dc.identifier.uri http://hdl.handle.net/1853/6831
dc.language.iso en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Two-Port en_US
dc.subject Haptics
dc.subject Passive Actuators
dc.subject Optimal
dc.subject Virtual Coupling
dc.subject Force Feedback
dc.subject Llewelyn's Staibility
dc.subject.lcsh Robotics en_US
dc.subject.lcsh Tactile sensors Design en_US
dc.subject.lcsh Electric networks, Two-port en_US
dc.subject.lcsh Human-computer interaction en_US
dc.subject.lcsh Intelligent control systems en_US
dc.title Improved Design and Performance of Haptic Two-Port Networks through Force Feedback and Passive Actuators 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
relation.isAdvisorOfPublication 45966a3c-59ea-44fc-980a-96d543c035f0
relation.isOrgUnitOfPublication c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
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