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FYP Introductory Presentation

This document discusses challenges with current haptic rendering techniques that cannot convey hard object contacts or fine textures. It identifies three key challenges: 1) making haptic interfaces feel more realistic for remote interactions, 2) enabling users to leverage real-world skills in virtual environments, and 3) allowing more natural interaction and learning of tasks that translate to the real world. The biggest challenge is communicating high-frequency acceleration information between the slave and master devices. Several proposed solutions are then outlined, including high-frequency acceleration matching and canceling induced master motion.

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Ahmed Bilal
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20 views5 pages

FYP Introductory Presentation

This document discusses challenges with current haptic rendering techniques that cannot convey hard object contacts or fine textures. It identifies three key challenges: 1) making haptic interfaces feel more realistic for remote interactions, 2) enabling users to leverage real-world skills in virtual environments, and 3) allowing more natural interaction and learning of tasks that translate to the real world. The biggest challenge is communicating high-frequency acceleration information between the slave and master devices. Several proposed solutions are then outlined, including high-frequency acceleration matching and canceling induced master motion.

Uploaded by

Ahmed Bilal
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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FYP Introductory Presentation

The Problem

● The Problem with current haptic rendering techniques, which use


position or force feedback, generally cannot convey a crisp contact with
a hard object, nor can they convey the fine features of a textured surface;
instead, portrayedContext
objects feel overly soft and unnaturally smooth or
oscillatory, limiting the usefulness of teleoperation systems and virtual
environments.
● High-magnitude, high-frequency haptic feedback often causes instability
in haptic interfaces, especially during teleoperation.
Challenges deep-dive

Challenge 1 Challenge 2 Challenge 3

To develop methods for To enable the user to To enable the user to


making haptic interfaces leverage skills from real interact more naturally
to remote and virtual experiences and more and learn tasks that
interactions feel more easily perform tasks in translate well to the real
realistic, the remote environment. world.
The biggest Challenge

Haptic Interfaces have been facing a critical challenge of communicating high


frequency acceleration information from Slave tip to Master Hand used.Haptic
interfaces have yet to achieve the levels of haptic realism required for widespread
adoption the primary area in which impedance-type interfaces struggle is the
rendering of hard contact.
Solutions
High-frequency acceleration matching
This is to place a high bandwidth accelerometer at the tip of the remote robot.

High-frequency acceleration matching to augment


Contact accelerations are pre-recorded from a real human-object interaction and then conditioned by the
inverse of a dynamic model of the haptic interface acceleration output capabilities.

Canceling induced master motion


in which the movement of the master motor in response to the force feedback signal is estimated and
removed from the position command for the remote robot.

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