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Haptic Device Application in Virtual Training

Mansouri Boroujeni, Misagh | 2008

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 39287 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Meghdari, Ali
  7. Abstract:
  8. Haptic Interfaces have been used as cooperative systems to reproduce and simulate human actions. The Haptic Interface (HI) can be used as a tool capable of interacting dynamically with the operator using haptic technology. By controlling the haptic interface and constraining it to move through the desired trajectory which is required for most of the training systems such as Hand Writing Learning System, Minimally Invasive Surgical Simulation, virtual welding training and gaming applications the users can easily interact with virtual environment through the sense of touch. Haptic device application in virtual handwriting training was investigated in this thesis. Two different modes of learning were chosen in terms of haptic learning system: full guidance and partial guidance. In full guidance the haptic device guides the user to follow recorded trajectory; whereas in partial guidance, a user can freely follow a pre-written path, but if the user deviates significantly, the forces automatically brings him/her back to the optimal displayed path. This system acts in a similar way as a teacher or instructor holding his trainee’s hand. In the first phase of this project after some introductions, partial guidance for virtual handwriting learning system was investigated, for the next phase of this project the trajectory playback with using a suitable controller was used. The results from the both stages of learning reveal that this method can be useful alphabet learning tool for not only the novice student in the first years of primary school but also as a powerful tool for more advanced training
  9. Keywords:
  10. Robotics ; Tracking Control ; Path Planning ; Haptic Interface ; Proportional-Integral-Derivative (PID)Controller ; Virtual Training

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