Ph.D. Proposal Presentation by Dalong Gao
Friday, January 14, 2005

(Dr. Wayne Book, Chair)

"Control Limitation Analysis and Design Algorithm for Dissipative Passive Haptic Interfaces"

Abstract

A haptic display is a human-machine interface that constructs a sensation of touch for the human operator. Its applications can be found in various industries, hospitals etc. A dissipative passive haptic display contains only passive actuators which include passive actuators that can remove energy from the system by resisting motion in the system, like brakes. The advantage of a passive haptic display is better safety compared to an active display. Its disadvantage is the control limitation from the passive actuators.

This research will focus on the limitation brought by dissipative passive actuators on passive haptic interfaces. Steerability and steerability related concepts will be used to identify and analyze the limitation. Measures will be defined to quantify the limitations for serial and parallel manipulators. And optimal solutions will be obtained to achieve for both structures to minimize the limitation. Previous developed haptic interfaces will be evaluated based on their steerabilities. Influence of system dynamics on their steerabilities will be discussed. Steerability analysis of three-dimensional haptic interfaces will be also attempted to give as an extension of the two-dimensional cases. Generalized design algorithms will be given for dissipative passive haptic interfaces in serial/parallel structures. Brakes and clutches are the two types of dissipative passive actuators in this research.