Thesis
Hybrid haptic device with spherical mr-brake and its control using a force transfer algorithm
Washington State University
Master of Science (MS), Washington State University
2014
Handle:
https://hdl.handle.net/2376/102576
Abstract
This thesis focuses on the development and improvement of a haptic device with hybrid actuation and spherical working volume. First, a wrist rehabilitation device that works for 3-DOF of the wrist motion is developed in order to determine the performance of the brake as a passive haptic device. Passive actuators are limited by their resistive nature, and suffer a haptic transparency problem called “sticky wall” situation. Active actuators can produce force in the same direction of the motion, and can ensure that the user can slide on the surface since they do not lock all directions at once and have faster response time. Hence, hybrid actuation was implemented with a coupling mechanism to exert force in the same direction as MR-brake. Furthermore, the hysteresis problem of the brake was reduced by means of using Hall Effect sensor as the magnetic induction feedback on a closed-loop control. In order to utilize the advantages of both passive and active actuators, a gradual work transfer signal with a first order transfer function was chosen as a major control system. After assembling the device and circuitry with the control software design, several experiments for haptic devices were conducted. The hybrid actuation with the proposed control algorithm improves the current consumption in when multiple motors are used, and reduces vibrations while simulating high stiffness virtual walls. As an improvement to the MR-brake, hybrid actuation reduces off-wall torque, and allows for easier surface tracking. Finally, the elimination of hysteresis reduces the torque requirement while the brake is signaled to turn off. The thesis is concluded with several improvement suggestions: on the design and modeling of the brake, the mechanism for coupling, and logic of the hybrid control algorithm.
Metrics
11 File views/ downloads
22 Record Views
Details
- Title
- Hybrid haptic device with spherical mr-brake and its control using a force transfer algorithm
- Creators
- Orhun Kose
- Contributors
- Hakan Gürocak (Degree Supervisor)
- Awarding Institution
- Washington State University
- Academic Unit
- Electrical Engineering and Computer Science, School of
- Theses and Dissertations
- Master of Science (MS), Washington State University
- Publisher
- Washington State University; [Pullman, Washington] :
- Identifiers
- 99900525074301842
- Language
- English
- Resource Type
- Thesis