Haptic force feedback and human perception

• Autorzy: Gajda A. , Adamiec J.

Warianty tytułu

PL

Percepcja haptycznego sprzężenia zwrotnego

• Języki publikacji: EN

Abstrakty

EN

Nowadays it can be observed that the haptic force feedback is more and more often used as a technical solution for steering systems in working machines. When it is combined with multiple-axis joysticks, a new research field is established for constructors, especially in the branch of industry where working machines with hydraulic drive arms (e.g. excavators) are exploited. Most of the projects of steering systems taking advantage from both: multiple-axis joysticks and haptic force feedback, are focused only on the part of technical application issues. We argue that problems concerning the interaction between an operator and joystick are also very important, especially, when possible benefits from a more efficient work are concerned. The purpose of this paper is to present the results from research, where the characteristics of force being used by operator on the joystick is measured. The group used in study consists of thirty objects (men in the age between 21 and The test stand was created to simulate the conditions in the operator's cabin–the most important was the position of a joystick in relation to the operator. The characteristics were taken as not linear one – it was the hypothesis which was proved by the results of this study.

PL

Siłowe sprzężenie zwrotne, będące jednym z rodzajów haptycznego, coraz częściej gości w rozwiązaniach technicznych dotyczących sterowania maszynami roboczymi. W połączeniu z dżojstikami wieloosiowymi stanowi nowe pole badań i możliwości dla konstruktorów, szczególnie w przemyśle wykorzystującym maszyny robocze wyposażone w ramię o napędzie hydraulicznym (np. koparki). Z uwagi na dotychczasowy brak gotowych rozwiązań, postanowiono przeprowadzić badania mające na celu ustalenie, z jaką charakterystyką siłową operator korzysta z manipulatorów. W tym celu przebadano grupę trzydziestu osób (mężczyźni w wieku 21–25 lat) na stanowisku mającym za zadanie symulowanie rzeczywistego ułożenia dżojstika i operatora w przestrzeni. Otrzymane wyniki pozwoliły na opracowanie charakterystyk, które wbrew intuicji okazały się nie być liniowymi.

Słowa kluczowe

EN

haptic force feedback; human force characteristic

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Journal of Mechanical and Transport Engineering
• Rocznik: 2013
• Tom: Vol. 65, No. 3
• Strony: 15--22
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Gajda A.

• Chair of Basics of Machine Design, Poznan University of Technology

autor

Adamiec J.

• Chair of Basics of Machine Design, Poznan University of Technology

Bibliografia

• [1] Barrientos A., Luengo O., and Mora A., Teleoperated backhoe excavator with haptic control, in: International Symposium for Automation and Robotics in Construction, Universidad Politecnica de Madrid, Madrid, Spain, 1999, p. 491-496.
• [2] Branczyk Ch., What makes loader handling so difficult? International Journal of Forest Engineering, 1996, 7(3).
• [3] Elton M. D., An efficient haptic interface for a variable displacement pump controlled excavator, Master's thesis, Georgia Institute of Technology 2009.
• [4] Elton M. D., Book W. J., Operator efficiency improvements from novel human-machine interfaces, in: The 6th FPNI — PhD Symposium, West Lafayette, Indiana,2010.
• [5] Elton M. D. and Book W. J., Comparison of human-machine interfaces designed for novices teleoperating multidof hydraulic manipulators, in: RO-MAN, 2011 IEEE, Atlanta, USA, 2011.
• [6] Kontz M. E., Haptic control of hydraulic machinery using proportional valves, PhD thesis, Georgia Institute of Technology 2007.
• [7] Lawrence P. D. et al., Coordinated and force-feedback control of hydraulic excavators, Experimental Robotics, 1997, 4, 223, p.181-194.
• [8] Osafo-Yeboah B. et al., Empirical study to investigate the range of force feedback necessary for best operator performance in a haptic controlled excavator interface, International Journal of Industrial Ergonomics, 2013, 43(3), p. 197-202.
• [9] Parker N. R., Application of force feedback to heavy duty hydraulic machines, Master's thesis, The University of British Columbia 1992.
• [10] Parker N. R., Salcudean S. E., and Lawrence P. D., Application of force feedback to heavy duty hydraulic machines, in: IEEE International Conference on Robotics and Automation, Atlanta, USA, 1993.
• [11] Salcudean S. E. et al., Bilateral matched impedance teleoperation with application to excavator control. Control Systems, IEEE, 1999, 19(2), p. 29-37.