52 research outputs found
Haptic guidance improves the visuo-manual tracking of trajectories
BACKGROUND: Learning to perform new movements is usually achieved by
following visual demonstrations. Haptic guidance by a force feedback device is
a recent and original technology which provides additional proprioceptive cues
during visuo-motor learning tasks. The effects of two types of haptic
guidances-control in position (HGP) or in force (HGF)-on visuo-manual tracking
("following") of trajectories are still under debate. METHODOLOGY/PRINCIPALS
FINDINGS: Three training techniques of haptic guidance (HGP, HGF or control
condition, NHG, without haptic guidance) were evaluated in two experiments.
Movements produced by adults were assessed in terms of shapes (dynamic time
warping) and kinematics criteria (number of velocity peaks and mean velocity)
before and after the training sessions. CONCLUSION/SIGNIFICANCE: These results
show that the addition of haptic information, probably encoded in force
coordinates, play a crucial role on the visuo-manual tracking of new
trajectories
Analiza FPGA implementacije bilateralnih algoritama upravljanja za dodirnu teleoperaciju
This paper presents the FPGA implementation of sliding mode control algorithm for bilateral teleoperation, such that, the problem of haptic teleoperation is addressed. The presented study improves haptic fidelity by widening the control bandwidth. For wide control bandwidth, short control periods as well as short sampling periods are required that was achieved by the FPGA. The presented FPGA design methodology applies basic optimization methods in order to meet the required control period as well as the required hardware resource consumption. The circuit specification was performed by the high-level programing language LabVIEW using the fixed-point data type. Hence, short design times for producing the FPGA logic circuit can be achieved. The proposed FPGA-based bilateral teleoperation was validated by master-slave experimental device.Ovaj rad opisuje FPGA implementaciju algoritama upravljanja kliznim reĆŸimima za bilateralnu teleoperaciju, pri Äemu je opisan problem haptiÄke teleoperacije. Prikazano istraĆŸivanje poboljĆĄava dodirnu pouzdanost proĆĄirenjem upravljaÄkog propusnog pojasa. Za ĆĄiroki propusni pojas, potrebni su kratki upravljaÄki periodi i brzo vrijeme uzorkovanja, ĆĄto je postignuto primjenom FPGA sklopovlja. Prikazana metodologija za projektiranje FPGA sklopovlja koristi osnovne optimizacijske metode s ciljem postizanja potrebnih upravljaÄkih perioda i zahtijevane fiziÄke iskoriĆĄtenosti sklopovlja. Specifikacije sklopovlja su provedene programskim jezikom visoke razine LabVIEW uz koriĆĄtenje podataka s nepomiÄnim decimalnim zarezom. Stoga je moguÄe implementirati traĆŸenu logiku na FPGA sklopovlje u kratkom vremenu. Opisana bilateralna teleoperacija temeljena na FPGA slopovlju je testirana na eksperimentalnom postavu s nadre.enim i podre.enim Ävorom
Stability analysis and robust control for fixed-scale teleoperation
SIGLEAvailable from British Library Document Supply Centre-DSC:DXN032974 / BLDSC - British Library Document Supply CentreGBUnited Kingdo
Robust variable-scale bilateral control for micro teleoperation
This paper discusses variable-scale bilateral control for micro teleoperation. A method is proposed to synthesize robust variable-scale controllers that guarantee system stability and realize robust performance in contact with any arbitrary, but passive, operator and environment. The proposed method is based on the formulation as a robust output feedback constant scaled ââ problem. A variable scaled teleoperation system appears as a polytopic linear parameter-varying (LPV) plant, with an affine relation on the scale factors. Gain-scheduling is used to derive robust stable time-variant ââ controllers for online variable scaling. Improved controller performance is obtained through the introduction of an affine and scheduled-parameter-dependent weighting. The controller synthesis problem is formulated as a set of linear matrix inequalities (LMI's) augmented with a nonconvex rank condition. An efficient algorithm is constructed to synthesize a set of sub-optimal controllers over the parameter space. The validity of the proposed methods are confirmed experimentally. ©2008 IEEE.status: publishe
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