Solving liquids by discarding fluid dynamics

Predicting force feedback of liquids for haptic bilateral teleoperation

Bachelor thesis (2024)

Authors

Łukasz Rek Rek Electrical Engineering, Mathematics and Computer Science

Contributors

H.J.C. Kroep Networked Systems - EEMCS (mentor)
Ranga Rao Venkatesha Prasad Networked Systems - EEMCS (mentor)
Q. Song Embedded Systems - EEMCS (graduation committee member)
Faculty
Electrical Engineering, Mathematics and Computer Science
More Info
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Published Date

26-06-2024

Language

English

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Faculty

Electrical Engineering, Mathematics and Computer Science

Abstract

This paper presents a novel approach to simulating liquid interactions for haptic bilateral teleoperation without complex fluid dynamics simulations. We propose a model combining a simplified drag equation with a "position tail" mechanism to approximate force feedback for viscous and turbulent liquids. The model was evaluated through theoretical analysis, manual testing, and a user study. Results of the latter demonstrate the ability to convincingly simulate different liquid types, with participants correctly identifying viscous and turbulent liquid types. The study also revealed that visual feedback delays up to 125 ms did not significantly impact user experience. While promising, the system remains sensitive to noisy input data. This research contributes to the development of efficient and believable haptic simulations for teleoperation, paving the way for future developments.