Haptic exploration of highly curved compliant surfaces
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, vol.229, no.10, pp.949-956, 2015 (SCI-Expanded, Scopus)
- Publication Type: Article / Article
- Volume: 229 Issue: 10
- Publication Date: 2015
- Doi Number: 10.1177/0959651815598257
- Journal Name: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
- Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Page Numbers: pp.949-956
- Eskisehir Osmangazi University Affiliated: Yes
Abstract
In this article, a constraint-based controller is developed for two-manifold oriented viscoelastic surfaces that guarantees smooth and compliant haptic rendering. The approach is direct and uses a pseudo-inverse projection of the haptic device end effector onto the virtual surface. The rendering algorithm enables the user to freely move a soft fingertip model along a highly curved deformable surface and perceive surface roughness in the normal direction by feeling a nonlinear contact force. The normal force is governed by a physically based three-dimensional constitutive model, which accounts for both geometric and material nonlinearities. In experimental implementation, the soft fingertip model acts as the compliant haptic interface (robot) and the user manually guides the manipulator to explore the deformable surface properties in real time. The (nonlinear) reaction force normal to the surface is applied at the soft fingertip edge of the fingertip bone (distal phalanx). The robustness of the approach is illustrated by experimental data in rendering highly curved compliant surfaces.