Modulating Soft Matter Friction Using Opposable Ultrasonic Vibrations

When we manipulate objects in our day-to-day life, we perceive information on the object via force feedback that we sense with our sensorimotor system. However, in virtual reality, we lack these forces, which makes it more challenging to interact with the digital world. Wearables, such as hand exoskeletons, can provide force feedback in VR....

Aito Haptic Mid-Console: Design of an Haptic Feedback Enabled Demonstrator for Automotive HMI Applications

While touch Interfaces have greatly improved the user friendliness and functional possibilities of devices, haptic feedback has been lacking in user interface design. Good Haptic feedback not only gives confirmation of a key press, but also enriches the user interaction and improves the usability of interfaces.<br/>This absence of haptic...

Haptic assistance to mitigate damaging vertical accelerations of small fast ships in head waves

Crew of small fast ships often experience exces- sive vertical accelerations when sailing in waves, leading to discomfort and injuries. In an attempt to avoid this, in good visibility experienced operators reduce speed voluntarily when they anticipate that the next vertical peak acceleration will be unacceptably large. However, at night and...

Haptic feedback during training decreases performance in telemanipulation

Teleoperation allow us to manipulate environments that cannot be manipulated directly by a human operator, like space and deep sea, but they are also used in surgery to scale movements and filter out unwanted movements. Commercial teleoperators often lack haptic feedback to the user. Literature shows that a lack of haptic feedback can reduce...

Increasing Acceptance of Tactile Feedback in UAV Teleoperations by Visualizing Force Fields

Due to the increasing complexity of controlling Unmanned Aerial Vehicles (UAVs), researchers have been trying to let automation take part of the UAV control in order to eliminate human error and reduce the workload of the operator. Such a system has been developed for UAV teleoperators which incorporates haptic feedback on the control stick...

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...

Control Loop Design for a Helicopter Tactile Cue Trim Actuator

Force feedback in helicopters can improve the performance of the pilot, decrease direct maintenance costs and increase the safety of every flight. Traditional force feedback is done with the use of a force sensor. In this thesis the use of a position based, feedforward control loop to achieve the same purpose is investigated. The limits of...

Development of a new product for personal safety in professional environments

This master thesis revolves around the development of a personal alarm device for lone workers. A lone worker is somebody who is regularly isolated from their colleagues, without direct supervision. This includes people who often work in isolation, like electricians and warehouse employees. But a worker does not need to be alone in order to be...

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...

Haptic Interface for UAV Teleoperation: Changing Haptic Control Device Stiffness based on Environmental Constraints

Unmanned Aerial Vehicle (UAV) teleoperators suffer from a reduced situational awareness, contributing to a high UAV accident rate. The implementation of a haptic interface is a way to provide them with more information about obstacles in the environment in order to compensate for this. Research focused on systems that actively help the...

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...

The development of an in-hand-haptic-feedback device based on magnetorheological fluid

During this project, a mobile haptic feedback device, aimed at virtal object representation in virtual reality was developed. The device is capable of providing its users with passive force feedback between their thumb and index finger. The device consists of a magnetorheological fluid damper, suspended between the thumb and the index finger by...

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.

Jacket for people with balancing problems

This report concerns the development of a jacket for people with balance problems. Patients with failing balance organs can have serious difficulty to maintain their balance. The balance jacket contains a sensor and a belt of actuators. The sensor determines the orientation of the patient and provised feedback to the jacket. The jacket contains...