F.M.C. Kraakman

Conference paper (1)

Master thesis (1)

2 records found

Reduced-complexity Teleimpedance Command Interface Enabling Single-handed Control of 3D Stiffness for Unstructured Tasks

Master thesis (2024) - F.M.C. Kraakman (author) , L. Peternel (mentor)

The state-of-the-art teleimpedance command interfaces used to command the robot stiffness configuration are either too complex to set up, such as those that use physiological signals and other tracking methods or cannot configure the stiffness appropriately for 3d environments.
To mitigate these issues, a novel teleimpedance interface is proposed.
The proposed interface can independently control the stiffness configuration's shape, orientation, and size with single-hand operations while allowing the operator to use that hand to command the robot's position.
The teleimpedance interface is attached to the operator's hand and uses two scroll wheels, a joystick, and a force sensor to configure the robot's stiffness and has two different modes of operation.
Compared to the state-of-the-art methods, the main advantage of the proposed teleimpedance command interface is that it does not require additional hardware with force feedback or complex setup calibrations while allowing for control of the robot's 3D stiffness configuration with single-handed operation.
An experiment with human subjects was performed to demonstrate the proposed interface's acceptance and functionality.
To demonstrate the teleimpedance command interface's ability to adjust 3D stiffness configurations a teleoperation was performed, utilizing a Kuka robotic arm and a Force Dimension Sigma7 position input interface.
The teleimpedance interface functioned as intended during teleoperation in a 3D environment to configure and adjust the 3D stiffness configuration for the task in real-time.
The results from the human subject trials indicate that the participants can successfully operate the interface to complete the alignment tasks in both modes for 3D stiffness configurations.

Design and Evaluation of Finger-operated Teleimpedance Interface Enabling Simultaneous Control of 3D Aspects of Stiffness Ellipsoid

Conference paper (2024) - F.M.C. Kraakman (author) , L. Peternel (author)

In this paper, we present a design and evaluation of a novel finger-operated teleimpedance interface used to command stiffness ellipsoids to the remote robot. The proposed interface provides a practical alternative to the state-of-the-art teleimpedance interfaces based on physiol ...

In this paper, we present a design and evaluation of a novel finger-operated teleimpedance interface used to command stiffness ellipsoids to the remote robot. The proposed interface provides a practical alternative to the state-of-the-art teleimpedance interfaces based on physiological signals that can be impractical in daily use. On the other hand, as opposed to existing practical interfaces that lack in terms of controlled degrees of freedom, the proposed interface enables control of 3D aspects of the ellipsoid. The remote robot stiffness ellipsoid is controlled with a single hand using the thumb, index, and middle fingers to operate two scroll wheels, a joystick, and a force sensor. These combinations of inputs can be mapped to control different aspects of the stiffness ellipsoid, i.e., orientation and shape/size. To investigate different modes of input mapping, we perform a human factors experiment to evaluate the performance and user acceptance of the proposed interface modes. The results of the experiments indicate that the participants can successfully operate the interface to complete 3D stiffness configuration alignment tasks in different modes. To further demonstrate the functionality of the proposed teleimpedance interface, we performed an additional experiment utilising a Force Dimension Sigma7 haptic device to control the motion of a KUKA LBR iiwa robotic arm while performing a complex physical interaction task.