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Dynamic based control strategy for haptic devices
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Elements.ORCID iD: 0000-0001-6692-2794
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.ORCID iD: 0000-0002-7550-3134
2011 (English)In: World Haptics Conference (WHC), 2011 IEEE Issue Date: 21-24 June 2011 / [ed] IEEE, 2011, 131-136 p.Conference paper, Published paper (Refereed) [Artistic work]
Abstract [en]

Transparency is a key performance measure for haptic devices. In this paper, we investigate a control strategy to increase the transparency of a haptic device. This control strategy is based on careful analysis of the dynamics of the haptic device, computed torque feed forward control and current feedback based force control. The inverse dynamic equation of motion for the device is derived using Lagrangian formalism and the dominating terms are identified for some representative motion trajectories. The user contact dynamic model is identified using experiments on the device with different users. A PI controller using motor current measurements is used to follow the reference force from the virtual environment. Experimental results illustrate the effectiveness of the control strategy.

Place, publisher, year, edition, pages
2011. 131-136 p.
Keyword [en]
Actuators, Dynamics, Equations, Haptic interfaces, Joints, Mathematical model, Torque
National Category
Other Mechanical Engineering
Research subject
SRA - ICT
Identifiers
URN: urn:nbn:se:kth:diva-78490DOI: 10.1109/WHC.2011.5945474Scopus ID: 2-s2.0-79961202957ISBN: 978-1-4577-0299-0 (print)OAI: oai:DiVA.org:kth-78490DiVA: diva2:492529
Conference
World Haptics Conference (WHC), 2011, 21-24 June 2011, Istanbul, Turkey
Note
© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20120214Available from: 2012-02-14 Created: 2012-02-08 Last updated: 2012-03-02Bibliographically approved
In thesis
1. Design and optimization of parallel haptic devices: Design methodology and experimental evaluation
Open this publication in new window or tab >>Design and optimization of parallel haptic devices: Design methodology and experimental evaluation
2012 (English)Doctoral thesis, comprehensive summary (Other academic) [Artistic work]
Abstract [en]

The simulation of surgical procedures, in the case of hard tissues such as bone or teeth milling, using a haptic milling surgery simulator requires a haptic device which can provide high stiffness and transparency. To mimic a real milling process of hard tissue, such as for example creating a narrow channel or cavity, the simulator needs to provide force/torque feedback in 5–6 degrees of freedom (DOF). As described in this thesis, research has been performed to develop and optimize a haptic device that can provide high stiffness and force/torque capabilities to facilitate haptic interaction with stiff tissues. 

The main contributions of this thesis are:

(i) The use of a model-based design methodology for the design of haptic devices.  The proposed methodology is applied to a case study, i.e. the design and optimization of a haptic device based on parallel kinematics. Device requirements were elicited through dialogues with a prospective user from a neurosurgery clinic. In the conceptual design phase, different parallel concepts have been investigated and analyzed based on functional qualities such number of degrees of freedom, workspace size and force/torque capabilities. This analysis led to the selection of a specific 6 DOF kinematic structure for which dimension synthesis was performed including multi-objective optimization followed by control synthesis. Finally, a device prototype was realized and its performance verified.

(ii) Optimization of the device for best kinematic and dynamic performance. For optimization, performance indices such as workspace-to-footprint ratio, kinematic isotropy and inertial indices were used. To cope with the problem of non-uniform units in the components of the Jacobian matrix, various normalization techniques were investigated. A new multi-objective optimization function is introduced to define the optimization problem, which is then resolved using multi-objective genetic algorithms. A sensitivity analysis of the performance indices against each design parameter is performed, as a basis for selecting a final set of design parameter values.

(iii) A control strategy is investigated to achieve high transparency and stability of the device. The control strategy is based on careful analysis of the dynamics of the haptic device, computed torque feed-forward control and force control based on current feedback.

(iv) Finally, experiments both separately in the lab and by using the device in a haptic milling surgery simulator were performed. Results from a face validity study performed in collaboration with orthopedists verify that the new haptic device enables high-performance force and torque feedback for stiff interactions.  

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2012. xiv, 56 p.
Series
Trita-MMK, ISSN 1400-1179 ; 2012:04
Keyword
Medical simulation, 6-DOF haptic devices, design methodology.
National Category
Medical Equipment Engineering
Research subject
SRA - ICT
Identifiers
urn:nbn:se:kth:diva-90746 (URN)978-91-7501-275-9 (ISBN)
Public defence
2012-03-23, B242, BBrinellvägen 85, KTH, Stockholm, 10:00 (English)
Opponent
Supervisors
Note
QC 20120302Available from: 2012-03-02 Created: 2012-02-28 Last updated: 2012-03-02Bibliographically approved

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Andersson, KjellWikander, Jan

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