Journal ArticleDOI
A critical study of the mechanical and electrical properties of the PHANToM haptic interface and improvements for high-performance control
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TLDR
The details of how the unknown subsystems of the stock PHANToM can be replaced with known, high-performance systems and how additional measurement electronics can be interfaced to compensate for some of the PHAN toM's shortcomings are presented.Abstract:
This paper presents a critical study of the mechanical and electrical properties of the PHANToM haptic interface and improvements to overcome its limitations for applications requiring high-performance control. Target applications share the common requirements of low-noise/granularity/latency measurements, an accurate system model, high bandwidth, the need for an open architecture, and the ability to operate for long periods without interruption while exerting significant forces. To satisfy these requirements, the kinematics, dynamics, high-frequency dynamic response, and velocity estimation of the PHANToM system are studied. Furthermore, this paper presents the details of how the unknown subsystems of the stock PHANToM can be replaced with known, high-performance systems and how additional measurement electronics can be interfaced to compensate for some of the PHANToM's shortcomings. With these modifications, it is possible to increase the maximum achievable virtual wall stiffness by 35%, active viscous damping by 120%, and teleoperation loop gain by 50% over the original system. With the modified system, it is also possible to maintain higher forces for longer periods without causing motor overheating.read more
Citations
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Haptic guidance: experimental evaluation of a haptic training method for a perceptual motor skill
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A robotic indenter for minimally invasive measurement and characterization of soft tissue response.
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Creating Realistic Virtual Textures from Contact Acceleration Data
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The Benefit of Force Feedback in Surgery: Examination of Blunt Dissection
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Intelligent Control Algorithms for Robotic-Assisted Beating Heart Surgery
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References
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Book
A Mathematical Introduction to Robotic Manipulation
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
Book
Introduction to Robotics mechanics and Control
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
Book
Introduction to Robotics
TL;DR: Invention to Robotics provides both an introductory text for students coming new to the field and a survey of the state of the art for professional practitioners.
Proceedings Article
The PHANToM Haptic Interface: A Device for Probing Virtual Objects
TL;DR: The design rationale, novel kinematics and mechanics of the PHANToM, a device which measures a user’s finger tip position and exerts a precisely controlled force vector on the finger tip, are discussed.