Abstract
The integrity and transparency of a haptic feedback in a bilateral control is crucial for precise and accurate operators’ sensation during human–machine interactions. Conventional master and slave bilateral control systems are often subject to unknown or unwanted disturbances and dynamics in the actuators and powertrain linkages that hamper the haptic feedback integrity and transparency. Force sensor torque sensing and feedback control are required to mitigate these effects. In contrast to the conventional approach of introducing torque sensing using a mechanical spring, this paper introduces a magnetic coupling as a torque sensor to detect reaction torque between the human input and the master actuator. Disturbance observer-based torque feedback control is designed to suppress the disturbances and tailor the haptic transparency dynamics. Experimental results on a virtual reality interaction system, which involves the steering wheel bilateral control in a cyber-physical driving simulator system, demonstrate the feasibility and effectiveness of the proposed method with improved haptic integrity and transparency.
Highlights
The development of industrial applications using haptic feedback bilateral motion control is limited to purely physical human–machine interactions, and includes virtual–cyber interactions in that visual, auditory, and tactile information can help to reinforce human operation
It is known that haptic feedback can massively improve the experience of human–machine interaction, which is based on so-called bilateral motion control [1,2,3]
To validate the improvement of the haptic feedback resulting from the proposed bilateral control, a comparison between using the conventional disturbance observer design depicted in Figure 2 and this proposed magnetic coupling design of Figure 8 were studied for performance evaluation
Summary
The development of industrial applications using haptic feedback bilateral motion control is limited to purely physical human–machine interactions, and includes virtual–cyber interactions in that visual, auditory, and tactile information can help to reinforce human operation. It is known that haptic feedback can massively improve the experience of human–machine interaction, which is based on so-called bilateral motion control [1,2,3]. The bilateral control system design has been widely used in cyber-physical applications, such as surgery [4,5] and driving simulators [6,7,8]. CTahreSIfMeasdibriivliitnygasnimd ueflfaetcotriveexnpeesrismoefnthtael spyrsotpeoms.ed method for improving haptic transparency in virtual reality applications were verified using a cyber-physical CarSIM driving simulator experimental system. TTThhheee iiinnnttteeerrrnnnaaalll ppoossiittiioonn lloooopp ooff bbiillaatteerraall ccoonnttrrooll ssyysstteemm. The artificial viscous factor α ≤ 1 can be employed to confirm the internal stability as needed
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
