Design and analysis of a haptic device design for large and fast movements

Haptic devices tend to be kept small as it is easier to achieve a large change of stiffness with a low associated apparent mass. If large movements are required there is a usually a reduction in the quality of the haptic sensations which can be displayed. The typical measure of haptic device performance is impedance-width (z-width) but this does not account for actuator saturation, usable workspace or the ability to do rapid movements. This paper presents the analysis and evaluation of a haptic device design, utilizing a variant of redundant kinematics, sometimes referred to as a macro-micro configuration, intended to allow large and fast movements without loss of impedance-width. A brief mathematical analysis of the design constraints is given and a prototype system is described where the effects of different elements of the control scheme can be examined to better understand the potential benefits and trade-offs in the design. Finally, the performance of the system is evaluated using a Fitts’ Law test and found to compare favourably with similar evaluations of smaller workspace devices

Comparing clothing-mounted sensors with wearable sensors for movement analysis and activity classification

Inertial sensors are a useful instrument for long term monitoring in healthcare. In many cases, inertial sensor devices can be worn as an accessory or integrated into smart textiles. In some situations, it may be beneficial to have data from multiple inertial sensors, rather than relying on a single worn sensor, since this may increase the accuracy of the analysis and better tolerate sensor errors. Integrating multiple sensors into clothing improves the feasibility and practicality of wearing multiple devices every day, in approximately the same location, with less likelihood of incorrect sensor orientation. To facilitate this, the current work investigates the consequences of attaching lightweight sensors to loose clothes. The intention of this paper is to discuss how data from these clothing sensors compare with similarly placed body worn sensors, with additional consideration of the resulting effects on activity recognition. This study compares the similarity between the two signals (body worn and clothing), collected from three different clothing types (slacks, pencil skirt and loose frock), across multiple daily activities (walking, running, sitting, and riding a bus) by calculating correlation coefficients for each sensor pair. Even though the two data streams are clearly different from each other, the results indicate that there is good potential of achieving high classification accuracy when using inertial sensors in clothing

Modelling of surface identifying characteristics using Fourier series

Texture and small-scale surface details are widely recognised as playing an important role in the haptic identification of objects. In order to simulate realistic textures in haptic virtual environments, it has become increasingly necessary to identify a robust technique for modelling of surface profiles. This paper describes a method whereby Fourier series spectral analysis is employed in order to describe the measured surface profiles of several characteristic surfaces. The results presented suggest that a bandlimited Fourier series can be used to provide a realistic approximation to surface amplitude profiles

A control structure for bilateral telemanipulation

A framework for considering the stability of bilateral telemanipulator systems is considered. The approach adapts the work of Lawrence [3] to use a state-space formulation thus simplifying the identification of the stability conditions from the eigenvalues of the feedback system. Both numerical and symbolic stability conditions are considered

Current over-stressing small DC motors to evaluate performance limits of electromechanical actuators for haptic applications

Actuators for haptic devices tend to have a different set of requirements in comparison to many other engineering applications. Small permanent magnet DC electric motors are commonly used as actuators in haptic devices and, in operation, tend to spend a significant period of time in a `stalled' condition where they are attempting to oppose an applied force. Ideally a haptic actuator together with its power amplifier exchange energy reversibly with the mechanical loads. However this is not feasible at room temperature and to achieve good force performance results in energy loss as heat in the motor windings. This paper identifies the relationship between heat loss and force generation in haptic electromagnetic actuators. The work then presents results on current over-stressing of small DC motors so as to understand the risks of demagnetisation against thermal damage to the armature. Results indicate that it should be possible to apply short current over-stresses to commercial DC permanent magnet motors to increase end point force. Also by paying careful attention to heat dissipation in the design of small permanent magnet actuators motors, it should be possible to improve the overall performance of actuators for haptic applications

Milliseconds matter: temporal order of visuo-tactile stimulation affects the ownership of a virtual hand

The sense of body ownership, that one’s body belongs to oneself, is a result of the integration of different sensory streams. This sense however is not error-free; in 1998 Botvinick and Cohen [3] showed the rubber hand illusion (RHI), an illusion that made a subject feel a rubber hand as their own. An important factor to induce the illusion is the timing of the applied visual and tactile stimulation to the rubber hand. Temporal delays greater than 500 ms eliminate the illusory ownership. This study investigates previously unexplored small delays between stimulation modalities and their effect for the perception of the RHI. Through a virtual reality setup of the RHI paradigm, it is shown that small delays can significantly alter the strength of the illusion. The order of the sensory modality presented plays a catalytic role to whether or not the inter-modal delay will have an effect on the illusion’s strength

Design of a Wheelchair with Legs for People with Motor Disabilities

A proof-of-concept prototype wheelchair with legs for people with motor disabilities is proposed, with the objective of demonstrating the feasibility of a completely new approach to mobility. Our prototype system consists of a chair equipped with wheels and legs, and is capable of traversing uneven terrain and circumventing obstacles. The important design considerations, the system design and analysis, and an experimental prototype of a chair are discussed. The results from the analysis and experimentation show the feasibility of the proposed concept and its advantages

Detailed examination of a packet collision model for Bluetooth Low Energy advertising mode

The aim of this paper is to investigate the amount of energy that is required to successfully transmit information inside the Bluetooth Low Energy (BLE) advertising packets. There are applications that require more than one BLE node to simultaneously transmit data. The BLE protocol utilizes a specific communication method termed advertising mode to perform unidirectional broadcasts of data from the advertising devices. However, with an increased number of BLE devices advertising simultaneously, there will be inevitable packet collisions from the advertising devices. This results in a waste of energy, specifically in low-power applications where lower consumption is desirable to minimize the need for battery replacements. This paper examines a packet collision model for the BLE advertising mode with the results validated using experimental data. Our analysis shows that when the throughput of the BLE network starts to fall due to an increase in the number of packet collisions, the energy consumption of the BLE nodes increase exponentially with respect to the number of nodes

Energy-efficient hybrid system for Wireless Body Area Network Applications

Wireless Body Area Networks (WBANs) consist of a number of miniaturized wearable or implanted sensor nodes that are employed to monitor vital parameters of a patient over long duration of time. These sensors capture physiological data and wirelessly transfer the collected data to a local base station in order to be further processed. Almost all of these body sensors are expected to have low data-rate and to run on a battery. Since recharging or replacing the battery is not a simple task specifically in the case of implanted devices such as pacemakers, extending the lifetime of sensor nodes in WBANs is one of the greatest challenges. To achieve this goal, WBAN systems employ low-power communication transceivers and low duty cycle Medium Access Control (MAC) protocols. Although, currently used MAC protocols are able to reduce the energy consumption of devices for transmission and reception, yet they are still unable to offer an ultimate energy self-sustaining solution for low-power MAC protocols. This paper proposes to utilize energy harvesting technologies in low-power MAC protocols. This novel approach can further reduce energy consumption of devices in WBAN systems

Signal Quality and Compactness of a Dual-Accelerometer System for Gyro-Free Human Motion Analysis

There is a growing interest in measuring human activities via worn inertial sensors, and situating two accelerometers on a body segment allows accessing rotational kinematic information, at a significantly lower energy cost when compared with gyroscopes. However, the placement of sensors has not been widely considered in the literature. In practice, dual-accelerometer systems should be built as compact as possible to ensure long-term wearability. In this paper, the impact of sensor placement and nature of human activity on signal quality is quantified by individual and differential signal-to-noise ratios (SNRs). To do so, noise-free signals are described by a 2-D kinematic model of a body segment as a function of kinematic variables and sensor location on the segment. Measurements are modelled as kinematic signals disturbed by zero mean additive Gaussian noise. Depending on the accuracy needed, one can choose a minimal SNR to achieve, with such dual-accelerometer arrangement. We estimate SNR and minimal sensor separations for three data sets, two from the public domain and one collected for this paper. The data sets give arm motion profiles for reaching, inertial data collected during locomotion on a treadmill and during activities of daily life. With a dual-accelerometer arrangement, we show that it is possible to achieve a good differential SNR for the analysis of various human activities if the separation between the two sensors and their placement is well chosen