Optimal Component Selection in Impedance-Type Haptic Devices

A teleoperation system consists of an operator interface (master) controlling a slave system in a remote virtual environment. When the slave’s environmental forces are fed back to the operator, this is called haptic force-feedback. An impedance-type master device ideally has a large range of stable achievable impedances, i.e. a small free space...

End effector admittance control of parallel manipulators without force sensor

A telemanipulation system lets a human operator manipulate an environment on distance, using a master and a slave device, which are connected by a bilateral controller that controls the master and the slave device and provides the communication between these devices. The master device is manipulated by the operator and these actions are...

Design of an independent front wheel steering system with optimal driver feedback

In this thesis, Independent Front Wheel Steering (IFWS) is studied. To implement an IFWS system, it is important to understand how dynamics of the front wheel and steering motor work. Furthermore it can be challenging to provide haptic feedback to the driver, especially when an active safety system is constantly adjusting the angle of the front...

Haptically Supporting Car Driving: Optimizing or Satisficing?

Abstract – Background: A principal design choice in providing steering wheel force feedback to assist drivers during lane-keeping is whether feedback should be provided for any error with respect to the lane centre (continuous feedback) or only when acceptable tolerance limits are exceeded (bandwidth feedback). Problem: Research has shown that...

Haptic feedback on the steering wheel to maximize front axle grip

Traditional Electronic Stability Control (ESC) systems influence planar vehicle motions to better match these to the driver’s intention. These systems use the Anti-lock Braking System (ABS) hardware to generate the needed tire forces. This has a large impact on longitudinal vehicle motions. A second method of altering the front wheel tire forces...

The effect of offering Natural Force Feedback and Haptic Shared Control on Rate and Force Control of a Deep Sea Mining Suspended Grab

Experimental research with human subjects on the effect of offering different types of haptic feedback to improve the human performance during a deep-sea mining task using a suspended grab.