Analog Position Estimation for Enhanced Stability and Fidelity of Haptic Systems

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics Pub Date : 2024-03-01 DOI:10.1109/TOH.2024.3371389

Leonam Pecly;Keyvan Hashtrudi-Zaad

引用次数: 0

Abstract

In this paper, we propose three methods to compute low-latency analog position where two of them fuse encoder and rate gyro signals. While one method is based on gyro with bias correction using encoder information, the other one is encoder-referenced combined with a resettable integrator to minimize the staircase form of encoder signals. Experiments on a one degree-of-freedom haptic simulation system have shown that a low-latency analog position with an accuracy over 98% compared to the sampled encoder signal can be obtained. The analog position signals are then utilized to produce analog viscoelastic virtual environments to assess and benchmark the proposed methods through uncoupled stability and perceived fidelity tests. The results have shown that a virtual stiffness range larger than 400% can be obtained with enhanced fidelity compared to common digital implementations.

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模拟位置估计，提高触觉系统的稳定性和保真度

在本文中，我们提出了三种计算低延迟模拟位置的方法，其中两种方法融合了编码器和速率陀螺仪信号。其中一种方法基于陀螺仪，并利用编码器信息进行偏差校正，另一种方法则是将编码器参考与可重置积分器相结合，以尽量减少编码器信号的阶梯形式。在一个一自由度触觉模拟系统上进行的实验表明，与采样编码器信号相比，可以获得精度超过 98% 的低延迟模拟位置信号。然后，利用模拟位置信号生成模拟粘弹性虚拟环境，通过非耦合稳定性和感知保真度测试对所提出的方法进行评估和基准测试。结果表明，与普通的数字实现方法相比，可以获得大于 400% 的虚拟刚度范围，并提高了保真度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Haptics COMPUTER SCIENCE, CYBERNETICS-

CiteScore

5.90

自引率

13.80%

发文量

109

审稿时长

>12 weeks

期刊介绍： IEEE Transactions on Haptics (ToH) is a scholarly archival journal that addresses the science, technology, and applications associated with information acquisition and object manipulation through touch. Haptic interactions relevant to this journal include all aspects of manual exploration and manipulation of objects by humans, machines and interactions between the two, performed in real, virtual, teleoperated or networked environments. Research areas of relevance to this publication include, but are not limited to, the following topics: Human haptic and multi-sensory perception and action, Aspects of motor control that explicitly pertain to human haptics, Haptic interactions via passive or active tools and machines, Devices that sense, enable, or create haptic interactions locally or at a distance, Haptic rendering and its association with graphic and auditory rendering in virtual reality, Algorithms, controls, and dynamics of haptic devices, users, and interactions between the two, Human-machine performance and safety with haptic feedback, Haptics in the context of human-computer interactions, Systems and networks using haptic devices and interactions, including multi-modal feedback, Application of the above, for example in areas such as education, rehabilitation, medicine, computer-aided design, skills training, computer games, driver controls, simulation, and visualization.