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A reconfigurable, tendon-based haptic interface for research into human-environment interactions

Published online by Cambridge University Press:  14 August 2012

Joachim von Zitzewitz ,
André Morger ,
Georg Rauter ,
Laura Marchal-Crespo ,
Francesco Crivelli ,
Dario Wyss ,
Tobias Bruckmann  and
Robert Riener
Joachim von Zitzewitz*
Affiliation:
Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, 8092 Zurich, Switzerland Brain Mind Institute, EPFL Lausanne, 1015 Lausanne, Switzerland
André Morger
Affiliation:
Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, 8092 Zurich, Switzerland
Georg Rauter
Affiliation:
Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, 8092 Zurich, Switzerland
Laura Marchal-Crespo
Affiliation:
Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, 8092 Zurich, Switzerland
Francesco Crivelli
Affiliation:
Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, 8092 Zurich, Switzerland
Dario Wyss
Affiliation:
Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, 8092 Zurich, Switzerland
Tobias Bruckmann
Affiliation:
Chair for Mechatronics, University Duisburg-Essen, 47057 Duisburg, Germany
Robert Riener
Affiliation:
Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, 8092 Zurich, Switzerland Medical Faculty, University of Zurich, 8092 Zurich, Switzerland
*
*Corresponding author. E-mail: joachim.vonzitzewitz@epfl.ch
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Summary

Human reaction to external stimuli can be investigated in a comprehensive way by using a versatile virtual-reality setup involving multiple display technologies. It is apparent that versatility remains a main challenge when human reactions are examined through the use of haptic interfaces as the interfaces must be able to cope with the entire range of diverse movements and forces/torques a human subject produces. To address the versatility challenge, we have developed a large-scale reconfigurable tendon-based haptic interface which can be adapted to a large variety of task dynamics and is integrated into a Cave Automatic Virtual Environment (CAVE). To prove the versatility of the haptic interface, two tasks, incorporating once the force and once the velocity extrema of a human subject's extremities, were implemented: a simulator with 3-DOF highly dynamic force feedback and a 3-DOF setup optimized to perform dynamic movements. In addition, a 6-DOF platform capable of lifting a human subject off the ground was realized. For these three applications, a position controller was implemented, adapted to each task, and tested. In the controller tests with highly different, task-specific trajectories, the three robot configurations fulfilled the demands on the application-specific accuracy which illustrates and confirms the versatility of the developed haptic interface.

Keywords

Haptic interfacesParallel manipulatorsDesignMan–machine systemsControl of robotic systems
Type
Articles
Information
Robotica , Volume 31 , Issue 3 , May 2013 , pp. 441 - 453
Copyright
Copyright © Cambridge University Press 2012

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