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Improvement of Stability of Haptic Force Interaction with Virtual Environments Using a Haptic Interface with a Separate Tracker

Mashayekhi, Ahmad | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 41934 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Meghdari, Ali; Nahvi, Ali
  7. Abstract:
  8. In the present study, a new version of haptic devices is presented in which user’s hand is in contact with the device just while collision with virtual surface. In this system, the position of user’s finger can be traced by using a camera and the haptic device follows user’s finger at the distance of about two centimeters. While the haptic device approaches to the virtual surface, gradually reduces its speed and stops about two centimeters distant of virtual plane. Then user’s hand collides with the haptic device which is static. Greater fidelity, transparency, more stability and also no need to large actuators are of the advantages of this system. In this project, first we present a new criterion for the passivity of the haptic devices. This criterion has been compared with an old passivity criterion and it has been shown that the old passivity criterion is not accurate and we should use the new developed passivity criterion. Then, a stability criterion has been presented for the haptic robot in the case of user’s hand presence. Finally, by using both theoretical and experimental information, a comparison has been done between the new and the old haptic systems. Results show that in the new haptic devices in comparison to the old ones there is a great feasibility for simulation of the surfaces with large stiffness
  9. Keywords:
  10. Stability ; Haptic Interface ; Robotics ; Passivity ; User's Hand Trace

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