Abstract
Haptic technology is the future oriented technology having wide applications in various field from medical, military and pilot training to video games and smartphones. In medical, it can prove a major asset for training the surgeon. The key performance issues in a haptic system are stability and transparency. This paper presents the design of haptic interface controller (HIC) for a 1-DOF haptic system designed to be used by surgical practitioners. The designed controller emphasizes on stability and transparency under the presence of uncertainty and delay. The optimal parameter of HIC has been selected using Genetic Algorithm (GA) and modified Particle Swarm Optimization (m-PSO). The performance of the designed controller is evaluated in terms of performance measure and compared with the conventional tuning method.
Highlights
Haptic is a science of manual sensing and manipulation of objects and environments in the virtual environment by means of software and hardware and vice-versa
This paper presents an optimal haptic interface controller (HIC) for one DOF haptic device, which ensures transparency and stability so as a medical practitioner can have realistic rehearsal and enhance their skills
It can be compared from these bargraph that modified Particle Swarm Optimization (m-Particle Swarm Optimization (PSO)) tuned HIC attains best performance in terms of lowest settling time and peak overshoot
Summary
Haptic is a science of manual sensing and manipulation of objects and environments in the virtual environment by means of software and hardware and vice-versa. This system has wide applications in the field of training the medical practitioner, pilots, and gaming on simulated haptic system. These simulated system provide the interface and environment similar to the original one for training purpose. The uses of haptic simulated system ensures the minimum loss of the human body, planes and the money. It is sensed and converted to an electrical signal using sensors and transducers respectively and this signal interact with the
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