Development and Evaluation of a 7-DOF Haptic Interface

Jian-Long Hao; Xiao-Liang Xie; Gui-Bin Bian; Zeng-Guang Hou; Xiao-Hu Zhou

doi:10.1109/JAS.2017.7510769

Volume 5 Issue 1

Jan. 2018

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2018 > 5(1): 261-269

Jian-Long Hao, Xiao-Liang Xie, Gui-Bin Bian, Zeng-Guang Hou and Xiao-Hu Zhou, "Development and Evaluation of a 7-DOF Haptic Interface," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 261-269, Jan. 2018. doi: 10.1109/JAS.2017.7510769

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Jian-Long Hao, Xiao-Liang Xie, Gui-Bin Bian, Zeng-Guang Hou and Xiao-Hu Zhou, "Development and Evaluation of a 7-DOF Haptic Interface," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 261-269, Jan. 2018. doi: 10.1109/JAS.2017.7510769

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Development and Evaluation of a 7-DOF Haptic Interface

doi: 10.1109/JAS.2017.7510769

State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, University of Chinese Academy of Sciences, Beijing, 100190, China

Funds:

the National Natural Science Foundation (NNSF) of China 61533016

the National Natural Science Foundation (NNSF) of China 61533016, U1613210

the National High-tech Research and Development Program (863 Program) of China 2015AA042306

the Beijing Natural Science Foundation 4161001

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Author Bio:
Jian-long Hao received the B.S. degree in automation from Northwestern Polytechnical University, China, in July 2012. He is currently working toward the Ph.D. degree in control theory and control engineering at the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences. He is also with University of Chinese Academy of Sciences, Beijing. His current research interests include surgical simulation, human-robot interaction and haptics. (e-mail: haojianlong2012@ia.ac.cn)

Xiao-Liang Xie (M'15) was born in April of 1983. He received the B.S. degree in electrical engineering and automation from Civil Aviation University of China, in 2006, and the Ph.D. degree in control theory and control engineering from the Chinese Academy of Sciences, in 2011, respectively. He is an Associate Professor with the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences. His research interests include machine learning, robotics, and control theory. (e-mail: xiaoliang.xie@ia.ac.cn)

Gui-Bin Bian (M'13) is an Associate Professor with State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences. He received B.S. degree in mechanical engineering from North China University of Technology, in 2004, M.S. degree in control theory and engineering and Ph.D. degree in mechanical engineering, both from Beijing Institute of Technology, in 2007 and 2010, respectively. His current research interests include medical robotics, mechanical design, path planning, dynamics modeling and control. (e-mail: guibin.bian@ia.ac.cn)

Zeng-Guang Hou (SM'09) received the B. S. degree and M. E. degree in electrical engineering from Yanshan University (formerly North-East Heavy Machinery Institute), China, in 1991 and 1993, respectively, and the Ph. D. degree in electrical engineering from Beijing Institute of Technology in 1997. He is now a Professor in the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences. His research interests include robotics, neural networks, optimization algorithms, and intelligent control systems. (e-mail: zengguang.hou@ia.ac.cn)

Xiao-Hu Zhou is a doctor candidate at the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences. He received the B.S. degree in automation from Central South University, in 2014. His current research interests include surgical robot control and system, human-computer interaction. (e-mail: zhouxiaohu2014@ia.ac.cn)
Corresponding author: Zeng-Guang Hou, e-mail:zengguang.hou@ia.ac.cn
Received Date: 2017-01-13
Accepted Date: 2017-07-06

Abstract

Abstract

With the development of human robot interaction technologies, haptic interfaces are widely used for 3D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual assembly and remote manipulation tasks. However, haptic interface design and control are still critical problems to reproduce the highly sensitive touch sense of humans. This paper presents the development and evaluation of a 7-DOF (degree of freedom) haptic interface based on the modified delta mechanism. Firstly, both kinematics and dynamics of the modified mechanism are analyzed and presented. A novel gravity compensation algorithm based on the physical model is proposed and validated in simulation. A haptic controller is proposed based on the forward kinematics and the gravity compensation algorithm. To evaluate the control performance of the haptic interface, a prototype has been implemented. Three kinds of experiments:gravity compensation, static response and force tracking are performed respectively. The experimental results show that the mean error of the gravity compensation is less than 0.7 N and the maximum continuous force along the axis can be up to 6 N. This demonstrates the good performance of the proposed haptic interface.
- Dynamic modeling,
- evaluation,
- haptic interface,
- impedance control

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References(23)

References

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Development and Evaluation of a 7-DOF Haptic Interface

doi: 10.1109/JAS.2017.7510769

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