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04
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Reportn
o
15.04
Destination: KangHeeJun,DoanHiep
Topic: HapticsDeviceBasicConcepts
MICROSOFTWORD

Summary:
Thisreportreviewsthebasicconceptsofhapticdevicesandshowthemethodologyinmy
research.
15.02:AddHistoryofHapticDevices
15.03:Thefivesenses+DirectInteractionviaahapticinterface
15.04:Previousworks

1. Hapticdevices
1.1. HistoryofHumanMachineInterface(HMI)
Theworldsfirstreallogicmachine,inthesensethatitcouldactuallybeusedto
solveformallogicproblems(asopposedtothosedescribedinRamonLullsArsMagna,
whichtendedtocreatemoreproblemsthantheysolved),wasinventedin1777bythe
BritishscientistandstatesmanCharlesStanhope(thirdEarlofStanhope).
Inthe1870s,twoinventorsElishaGrayandAlexanderGrahamBellboth
independentlydesigneddevicesthatcouldtransmitspeechelectrically(thetelephone).
ThecathoderaytubeorCRT,inventedbyKarlFerdinandBraun,isthedisplay
devicethatwastraditionallyusedinmostcomputerdisplays,videomonitors,
televisions,radardisplaysandoscilloscopes.TheCRTdevelopedfromPhilo
Farnsworthsworkwasusedinalltelevisionsetsuntilthelate20thcenturyandthe
adventofplasmascreens,LCDTVs,DLP,OLEDdisplays,andothertechnologies.Asa
resultofCRTtechnology,televisioncontinuestobereferredtoasTheTubewellinto
the21stcentury,evenwhenreferringtononCRTsets[iv].
Inparallel,3engineersofBellslabinventedthetransistorsin1947andreceived
Nobleprizein1956.Fewyearslater,thefirstpopularcomputer(Apple)appears.
Internetstartedintheendof1980s.
Inroboticsandteleoperation,thefirstMasterSlavemanipulatorsystemwas
createdforthenecessaryofNuclearIndustryin1940byGoertz,anditsimplementwas
usedin1956.In1960,theItalianproducedunevolutionofthismodel,theMascot.
Theevolutioninthisdomain,playedacentraltechniquefortheparallel
developmentofthetwootherbranches:ComputerGraphicsandHumanMachine
Interface[iii].TheinteractiveInfography(ComputerGraphics)wasbornin1960with
SensoramaSimulator(ExperienceTheater)ofMortonHeilig,thentheSketchpadand
HMDofSutherland(1961),thenthefirstmouseofDouglasEngelbrtin1966.Intheearly
of1970s,withstandardizationandcomercializationofinterfaces(programs,materials
anddrivers)andwiththefoundationofconferenceSIGGRAPH(1974),Computer
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Graphicsbecomesindependentfield.HMIthenwentonanotherbranchwithWIMP
[15].

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Time R&D Industrial Applications Technical Supports Influences

1920
Concepts of robot from
drama



1940

Manipulators



1950


Intelligent Robot


Loop memory


1960
Robot controlled by
computers

Research



Robot in industry

Applied at NASA and NAVY


Transistor Computer




Microprocessors


1970
AI Robotics
Boom of roboticst





Development of uP




Disavantages of
Economy


1980




Hazardous Robotics

Industrial Robots and other
applications




Digital Technique

Optical Technique


Necessity of
Automation


1990
Robot in production

Logic control

AI Robotics



Unemployment
because of robotics


2000


Humanoid Robotics
Development of Mechanics
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1.2. Historyofkinethetichapticsinterface
IrepresentheresomepicturesofHapticsDeviceswhicharecreatedintermoftime
1.2.1. Palmhaptics

FirstelectricalmanipulatorofGoertzin1940s

MagLevofCarnegieMellonUniversity(1991)

SpidarofTokyoInstituteofTechnology(1991)
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PDDMoflaboratoryATR(1993)

LinearandPlanarhapticinterface(1994)

ExcaliburofWashingtonUniversity(1995)

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Mousehapticsbasedonpantograph(1997)

HapticMasterofFCSRobotics(1997)

VirtuoseofHaption(1999)109,000$
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3dofJoystickofPERCRO(2000)
1.2.2. Fingerhaptics:

ThisisthePhanTOMhaptics.PhanTOMusesthecounterbalancestomakenon
gravityhaptics,andtheyusePWMcontrolforDCmotorsintheircontrollers.Their
pricesfor6DOFsystemlikethisisabout78,000USD.(from1994,byThomasMassie,
studentofDr.KennethSalisburyMIT)

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HapticPen,UniversityofColorado(from1996)

ThePencat/ProaproductderivedfromthePantograph(1998)
CommercializedbyHaptechInc.NowImmersionCanadaInc.
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HapticDesktopHapticPenofPERCRO(from1999)

DoublePantographStytetofUniversityofBritishColumbia(2000)

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Freedom6SofMPB(commercialproductfrom2002)

1.2.3. Digitalcontacthaptics

PantographofMcGillUniversity

FingerHapticDisplayofWashingtonUniversity
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3dofDigihapticofLIFL(2003)

1.2.4. Modularhaptics

ACROEICAhaptics(from1978,currentdesignfrom1999)
10,000Eurofor1dofto30,000Eurofor6dof

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vBowofStandfordUniversity(2000)

HapticBlackBoxwith16tupesofUNIPI(2003)

InterfacetactilokinthtiqueofLSC
(LaboratoiredesSystmesComplexes2004)

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1.3. Thefivesenses
Phenomena Sensors Values
Audition Acouticwave Tympans/cochle 25Hz15KHz
0120dB
Vision Electromagnetic
wave
Retina 380nm780nm
3.87.910
5
bps[vi]
Touch Mechanics Skinreceiver 0500Hz
0.04N100N
Taste Chemics x x
Smell Chemics x x

Referredto[5]and[vi]

1.4. DirectInteractionviaaHapticInterface
Thispartisquitecomplex,butitisaveryimportantpart.However,wecangeta
verysimpleideafromthispartthatWhydontwestartatthebeginning,andwhy
dontweletanobjectbewhatitis?

1.4.1. IntroductiontoCausity
Theoricalproblem:Mechanically,anobjectorhumanuserproduceandreceive
forcesandpositionsinstantlyandcontinuously.Butthesignalflowbetweenhuman
userandhapticinterfaces,andsimulatedobject,andobjectsarequantitiveandinseries.
Itistheunnaturalexchangementtotheoriginalduality.
Techniqueproblem:Theinfluencesofreduced(orlost)signalswillbediscussedin
1.4.3.Here,weconcentratetothecausualproblem.Thedelayonthepropagationof
signals.Thesignalsmustbecapturedbythesensors,encoded,transmitted,discretized,
calculatedAllmakethedelays.Theobjectthenappearsdifferrentlyfromitsmetaphor
andthismetaphorwillalsobedifferentfromitssimulatedobject.Generally,thedesign
ofsimulatedobjecthavetotakeintoaccounttheeffectsintroducedbytheretards.

1.4.2. IntrodutiontoaMorphologyinUsersSpace
Theoricalproblem:Theusernolongermanipulatestheobjecthimself,butviaa
morphologicalhaptics,whichisanassembledarticulatedmechanism.Theeffortsof
researchinginthisdomainistorazeoutthishaptics,butforgotanobjectisanobject
itself(focusonthesurface,thetexture,).Ofcourse,itispossibletotryproducinga
morphologyandvirtualobjectwithmaximumcontrolledpointsgobetweeninorderto
helptheuserfeelsasidenticallyastouchingdirectlytotheobject.However,thismethod
becomeslimitedbecauseoftheprecisionofthemechanismandtheactuators/sensors,
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thenumberofexpectedcontrolledpointsIftheobjectischanged,themorphologyhas
tobechanged.Thesecondapproachistolettheobjectbeasitpresentsandmakea
morphologytool.Theadvantageofthissolutionisthatthetoolremainsmodular(even
theobjectchanges,wecanusethesametooltomanipulateit).Itisrealistic(metaphorof
theinstrumentalinteractions)anditallowstomastermoreproperlytherelationship
betweenthekinematic/dynamicmorphologyandsignals
Techniqueproblem:Themorphologicaltoolposescertainproblemsrelatedtocontrol
thebehaviorofthemechanism,whicharethemodularityandthenumberofdegreesof
freedom.However,thisproblemgetsbacktothecausityproblemabove,andthereare
onlytwoapproachremains:one,wesayautomaticsapproach,whichtrytosolvethe
causialproblemintermofreducingtheeffects/contraintsoftimedelaytoapproachan
idealmetaphor;another,wesayphysicallybasedapproach,whichstudythemetaphor
andconsiderthecausityistheensensial/originaloftheobjectandwetrytodescribethe
objectasitis.

1.4.3. Introductiontoformalismintherepresentationofthevirtualobject
Theoricalproblem:Arealobjectisacompactuniqueandunseparated,thesensory
modalityisonlytheinterpretationrelatedtohumanfaculties.Wheneverwemodelan
object,thatisweusespecificoutputsfromsensorstodescribesomespecificbehaviors
oftheobject,suchas:dynamics,form,andphysical,geometricalcharacteristics.
However,tocaptureandrepresentanybehaviorofanyobjectnaturallyisnotlike
simple.
Techniqueproblem:Therearemanyformalisms,butwewillthinkaboutthemy
methodologylater.Mymethodologyisverysimplethatweusethebasiccomponentsof
idealmechanism(metaphor)whicharemassesandspringsanddampers,and
observetheseparticularphysicalmodelstogeneratesimultaneouslyvisionfeedback
(geometrics),soundfeedback,andforcefeedback.
Ihaveexperiences,workingontheCORDISANIMAtool,whichistheonlytoolI
knowtomakethemetaphorasdescribedabove.

1.5. Somereferencesabouthaptics
Teleoperationhaslongpursuedthegoalofremotemanipulation,promisingusers
theabilitytointeractnaturallywithenvironmentsthatarenormallybeyondhuman
reach.Thefirstsuchsystemsweredevelopedinthelate1940stoletanoperatorhandle
radioactivematerialsfrombehindashieldedwall[1].Theseearlymasterandslave
robotswereconnectedmechanicallyandbehavedasasingleextendedtool.Theuser
couldeasilyfeelinteractionforcesfromtheremoteenvironmentastheywere
transmitteddirectlythroughthemechanism.Theapplicabilityofsuchsystemswas
greatlyincreasedbyreplacingtheirsimplemechanicalconnectionwithanelectric
controlsystem[2].Atpresent,humansuseteleroboticstoexplorethedeepsea,
assembleequipmentinspace,andperformminimallyinvasivesurgery;unfortunately,
thesemodernsystemsallstruggletoprovidetheuserwithnaturalfeelingfeedback.
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Anidealteleoperatorwouldmakeremoteinteractionsfeellikedirectmanipulation,
portrayingthedynamicsofthedistantenvironmentwithoutdistortingtheusers
motionsorhapticperceptions.(*)[3](2005)
In[4],SittiwhosworkedwithNanomanipulatorconcludedthattheforcefeedback
canhavemucheffectsthananyothersensoryfeedback.(2003)
In[5],Burdeashowsthatmanshandcanfeelthebandwidthofvirtualforce
feedbackfromatleast5KHzto10KHz.Therefore,oneofouraimisalsotogetthe
bandwidthofthesystemtobe5to10KHz.(1996)
However,in[6],[15],aquitenewconceptofhapticshasbeenresearchedherewhich
callsInteractiveMultisensoryFeedback.Argumentatively,anoldwomantrembles
uncontrolablybutshestillcanusethebamboosticks,knifeandallthehouseholdstuffs.
Incase,ayoungmancanuseaknifetocutanapplesskinwithhisnormalarm,socan
theoldwoman.Wecanimaginethattheoldwomansarmdoesnottremble,butthe
knifevibrates,withhernormalarm,shecancontroltheknifeornot?(2003)
Thisisaverybigquestiontoresearcherswhoworkonhapticsfield.
Getbacktothe(*)paragraphabove,weshouldaskaquestionthatwhatanideal
teleoperatorshouldbe?Itshouldhavetherealinteractionfeedbackfromtherealremote
environment,notthebestcontrolsysteminsenseofrobustorstability.
[16](1980)isaveryimportantpaperaboutdelayedsystem.
Itiswellknownthatthetimevaryinglinearsystemisnotalwaysstable(unstable)
evenifthefrozentimesystemisstable(unstable),thatis,thestabilitypropertiesofthe
timevaryingsystemcannotbepredictedfromtheeigenvaluesofthecharacteristic
equationofthefrozentimesystem.
Inthispaperthestabilityconditionsforafirstordersystemwithtimeorstate
variabletimedelaywereinvestigatedandthepropositionthatthetimevarying
systemisnotalwaysstable(unstable)evenifthefrozentimesystemisstable
(unstable)wasverifiedforthesystemwithvariabletimedelay.Afurtherproblem
willbetoinvestigatetheclassofthesystemwithtimevariabletimedelaywhose
stabilitypropertycanbepredictedbythatofthefrozentimesystem.
[17],[18](1997,1998)areaconferenceandajournalpublishedbyOboeandFiorini.
Theyshowedanewtechniquetoestimatetheconnectiondelayofinternet,saysphase
plot,andtheproblemsofdelayarecomingfrom:
Throughput:anapplicationmayfaceacongestednetworkandnotableto
exchangedataconsistently.
Delay:itsupperbounddependsonthenetworktraffic.
Delayjitter:networkloadmayinducelargedelayvariationandpacket
scrambling.
Packetlosses:routinghostsmaydiscardpacketsthatoverflowtheinputbuffers.
Withphaseplot,hecouldestimatea10,000kmlongconnectionwouldhaveabout
320msretards(notethatthisisinternettechniquesin19961998).In150kmdistance,
thedelaysconcentratetofasterthan10mspoints.
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Intheirpaper,thereweremanyanalysisaboutothermethods,andIagreedwith
them.However,Ileavemydiscussionintothenextpart.
In[13](2001),the3authorsshowedaveryinterestingconclusionthatSincethe
velocityisnotmeasurable,whichisoftenthecaseforindustrialrobots.
Impedancecontrolisarobotforcecontroltechniqueaimedatcontrollingtherelation
betweenpositionandforce,ratherthancontrollingeitherofthesevariablesalone.This
techniqueisoftenusedtodealwithgeometricuncertainty,i.e.,whentheexactlocation
oftheenvironmentisunknown.
Sinceindustrialrobotsareoftenequippedwithpositionsensorsonly,thevelocity
hadtobereconstructed.Afullorderobserverwasusedtoestimatethevelocity,andthe
modeloftherobotjointneededfortheobserverdynamicswasobtainedbysystem
identification.
TheapproachtakenwasbasedonresultsonobserverbasedSPRfeedback
FJohanssonandRobertsson,2001.ThedesignincludedthesolutionofaRiccati
equation,andthestiffnessanddampingintheimpedancerelationweremodifiedbythe
choiceofweightsinthedesignmatrix.StabilitywasprovenbyamodifiedPopov
criterion.
In[13],heusebothmathematicalandpracticalapproachtogetthisresult,andthe
sameresultswasachievedin[15]bySylvainwithhisargumentthatImpedancemodein
controlhavesomemoreeffectsthanAdmittancemodeintelerobotics,andhaptics
systems.(seeAppendixAforImpedanceandAdmittancemode).

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2. Previousworks
Followingtheresearchesonthisfield,Ihavechosensomereferencestoexplain
aboutthemainideabouthapticssystems.Wehaveknownabovesomehapticdevices,
butwhentheycombineandusethehapticswiththeirremoteenvironment,whatdid
theydo?Andhowdidtheydo?
Thereferencesare[7](2004),[8](1989),[9],[10](2002),

2.1. TransparencyandStabilityofBilateralKinestheticTeleoperationwith
TimeDelayedCommunication
Thisjournal[7]showsanstrateythatsimulatanenouslystabilizesbilateral
kinestheticteleoperationandimprovestransparencyfortypicalcontactsituationsofthe
teleoperator.
Thestrategyproposedhereisbasedonthreemajortechniques:
(i) twoportlosslesscommunicationlinetheory,
(ii) properlydesignedteleoperatortransferfunctionsbyuseoflineimpedance
adaptationfilters,
(iii) andswitchingofadaptationfiltersforsmoothoperationincaseofvarying
contactsituations.
Forpurposesofillustrationwewillconsiderasanexampletheexperimental
bilateralkinestheticteleoperationsystemdepictedinFigure1.Itcomprisesa1DoF
paddleontheoperatorandteleoperatorsiteforkinestheticinteractionbetweena
(HumanOperator)HOandtheoperatordevice,andbetweenateleoperatorandthe
remoteenvironment,respectively.

Twobasicsituationsmayoccur:Incaseoffreemotion,i.e.thenocontact(NC)state,
arathersmallforcesignalisfedbackfromtheteleoperatortotheoperatorsite,which
correspondstoagainfactorbetweenpositionandforceofnearlyzero.SincetheHO
willreceiveonlylittleinformationaboutthedriveforcesortheenergystoredinthe
teleoperatordevice,operationmayeasilyresultindangeroussituations.Ontheother
hand,incaseofenvironmentalcontact(EC)oftheteleoperator,smallestposition
variationswillproducesubstantialchangesinthefedbackforce,dependingobviously
ontheenvironmentalproperties.Thismeanshighgainvaluesbetweenpositionand
forcewithatendencytodestabilizetheclosedloopkinestheticteleoperationsystem.
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ImplementTechnique:
Inhisexeperiments,heusedthePIcontrollerontheoperatorsideassimplyas
following:
, , ,
( ) ( )
des
d h p h h h d h h
M k M M k = + (**)
AndheusethePDcontrolleronteleoperatorsideasfollowing:
( ) ( )
des
d d e p e e
M k k = +
(**)IdontknowwhyheconsiderthisisanPDcontroller(hedidntmentionabout
thecontroller,butheusek_d).Butthisisforcecontrol,andthevelocityisthe
integrationofaccelerationanditshouldbePIforcecontrol!!!???
Afterthat,tohavemoreaccuracy,heconsideredthehapticshavestiffnesspaddle
k_n.Andhecontinuedtofindthesuitablecontrollerforthissystembyfindingk_pand
k_d.
Becauseofthedifferenciesbetweenthetwocontactmode(NoContactand
EnvironmentContact),heusedswitchingstrategytoevaluatethecontrollers.Idonot
focusonthecontrolstrategy,becauseatthistimeIdonotworkoncontroller,atthis
time,Iwouldliketoexpresswhatisthehaptics,andhowfarwecangowiththe
haptics.
Discussion:
Letsthinkabouthisproblem.WehaveatorqueontheoperatorM_h,andwealso
havethedisplacementphi_h,andheconsiderinertialofHSIiszero!!!.Iwilldiscuss
moreinfollowingpapers,andIwilltrytoexplainwhytheywantthemassorinertialof
thehapticsbecomeszero.
Becausethemassbecomeszero,thinkaboutthiscase.Completely,inNCmode,
everythingbecomeszero,noforce,nomass,averylightgravitywasnotconsiderable.
ButinECmode,whenyouputsomethingonthetable,evenitisacup(100g),a
computer(10kg),oracarontheroad(200kg)andyoupushonit.Whatwillyouget
fromforcefeedback?Wewillhavethesamevalue,thatswhytheycansetupsuchbig
valueastheywantinECmode.
Thisisonewayofthinkingaboutthehaptics,becauseofthekinethetics,andthe
differentgainintwomodes(NCandEC),wecanuseswitchingstrategytohavea
goodcontroller,andconsiderthereisnohapticsmass.
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Hisresultswithnodelay.ThisisonlytheeffectofPDandPIcontroller.

2x50msdelay
Theunaccuracyforpositionisaround1cmandforforceisfrom510Nto20N

2.2. BilateralControlofTeleoperatorswithTimeDelay
Thisisthesummaryof[8](1989),whereSPONGusedthemechanics/electronics
analogy[11](1983)toanalysethetwoportsystem.
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Thispaperhasintroducedacontrollawforcontrollingateleoperatorwithtime
delay.Theteleoperationsystemwasdevidedintofiveblocks:theoperator,master,
communicationblock,slaveandenvironment.Byusingamechanical/electricalanalogy
itwasshownthattheinstabilitywhichoccursinbilateralteleoperationinthepresence
ofthetimedelayisduetoanonpassivecommunicationblock.
Byactivecontrolwehaveachievedacommunicationblockwhichmimicsalossless
transmissionlineandisthereforeguaranteedtobeapassiveelementindependentof
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timedelay.Thus,stabilityfortheteleoperatorhasbeenachievedwithoutrestrictingthe
bandwidthofsignals.

Discussion:Thefactthat,usingelectronics/mechanicsanalogyisjustamethodto
helpsolvingthecontrollerwithmoreease.In[12](2004)OndrejtrytouseBondGraph
(see[ii]formoreinformationaboutBondGraphandPhysicallyBasedModelling)but
hecouldnotarchievethegoal.Finally,hepublishedthispaperwithoutmentioning
aboutBondGraph,andhisworkhadmanyunreasonableresults.
Itsimportanttonotethatallpassivesystemswillbeautomaticallystable.Thisis
themostimportantthingfromSpong1989.
Thispaper[8]canalsoexplainfortherecentworksofHanaford[9],[10](2002)when
heusePassivityobserver(PO)fortimedomainPassivitycontrol(PC).

2.3. TimeDomainPasivityControlofHapticInterfaces
Inthesepapers,Hanafordprovedthestabilitycanbeachievedasusingpassivity
observerandpassivitycontrol,andheshowedtheproceduresindetailsofPOandPC.
However,fromSpongsworktoHanafords,theresultsarethesystemwillbestable
butcannotbefeltbyuserinenvironmentalcontact(EC)mode.Theresultsareshownin
followings:

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Discussion:WhatisPC?
Thefactthat,PCissimplyanaddeddamper,andpassivitymeansdampeverything
andtheirresearchescanbecalledUnconditionalStabilization.WhyIsayso?
Becausetheessensialequationiscomingfrom:
1 2
f f v = +
Thatis,youhaveadamper,anduseidenticalv_1andv_2astheinputs,thenfind
f_1andf_2.However,itsunnaturalequation.Theconditionwhichisusedtofindf_1
andf_2aretheenergyflowintheport.

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Justthinkaboutthenaturaleffectsofadamper,whenwehavetheforceinputs,say
f_1andf_2,therelativepositionofthetwoendsofthedamperwillchange,andthatis
velocityoutput.Thenifthetwoendsofthedampermove,itwillgeneratethesame
forceatthetwoends.Allwhathedidwasfindingsuitabledamperateachpointoftime,
sothattheportwillbecomespassive.
However,thinkaboutifweuseverybigdampertoeverysystem,allthesystems
willbeautomaticallystablewithoutanycondition.So,wemaysay,thisapproachof
passivitycontrolisUNCONDITIONALSTABILITY
Noonewantswhenhecontactstoanobject,hefeelsnoforce,andinnocontact
mode,hefeelstheforce.
Thisyear2006,Hanafordandhisstudentscontinuepublished[14]for6dofhaptic
system,andtheresultsarestillthesame.Hewanttoshow,inEC,forceswillbecome
zero!!!??

2.4. InducedMasterMotioninForceReflectingTeleoperation
IhavereadaboutNiemeyersLABpublications,andbeinterestedintheir
researches.Inthisreport,Idonothaveenoughtimetoexplainabouttheirworks,and
thefactthattheyhaveworkedonmanyproblemsofhapticsthatatthistime,Icannot
explainindetailsaboutall.
Inthisreport,Ijustreviewwhattheyhave,andwhattheyaredoing.
In1991[21],Niemeyertriedtoovercomethelimitationofknowntimedelayby
transformingthecommunicationchannelintoalosslesspassiveconnection,whichuses
wavevariablestorepresentvelocitiesandforcesexchangedbetweenthemasterand
slave.
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Atthistime,Niemeyerdothesameasotherresearchthatheunderstandthesystem
canbecontrolledwithpassivity,thatisthesystembecomesstable.
In2003[20],aninterestingproceedingoncharacterizingthehumanwristshowed
thatthehumanwristgraspingastyluscanbewellmodeledasasecondorderlinear
system.StiffnessandDampingwerefoundtoincreasealmostlinearlywithstylusgrip
force,thoughintersubjectvariabilityfortheparameterswassignificant.
In2005,hepublishedmanypaperswithhisspecialtool(hedonottellabouthistool
indetails)tomodelthesystemwithmass,spring,damperandCoulombfriction.His
approachissoclosetomine.However,skimmingaroundhispapers,oneisabout
modelingthesystem[3],the[22]heconcludedthedimensionlessformulationofthe
model(dynamicequationsofmassconnectedwithspring,dampersandCoulomb
friction)allowedasimplepassivityanalysisofthehapticinterface.Thatiswecan
easilyanalysethepasivitywiththistypeofmodel.
Averyimportantnotein[23],heexplainedbouttheeffectsofCoulombfriction,and
itisveryimportantinthemodels.

ThoseworksbasedonCancelingInducedMaster![24].Hisresultsaresoexciting,
however,IdontknowitisgoodornotwithMasterCancelation.Hisresultsinthe
abovefiguresayCancellationisgood.Butletsthink,doyouwantyourtooltobe
disappreared?
Imreadingcarefullyabouthisworksandthankstohim,withastronglab,hegave
manyinterestingresultsforexampletheCoulombfrictioneffects,thestabilityanalysis
andpasivity
Ishowheresomefiguresoftheirworks,perhapsyouneedtohavesome
explanations:
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Iwillhavesomecommentsabouttheirhapticsstructure.Letsthinkaboutthe
inducedmaster.Thefact,inducedmasterisamassandwecancheckthesefollowing
equations:
Atthemasterport,F_fandx_m,andtheslaveportF_tandx_c.Inourapplication,
theremoteworldislargerthanhapticsworld,whichisnormallyweusethehapticsto
controlaremotebigrobot,nottothenanoworld.Therefore,muyshouldbebig,and
lamdashouldbesmall.
Howtochoosemuyandlamdaisaninterestingproblem.
ImplementingasimplepositionforcecontrollerwithoutmodifyingGf(s)andGs(s)
requiresselectingandltoavoidcontactinstability.Theforwardpositionscaleis
usuallychosentoequatetheworkspacevolumesofmasterandslaveortoprovide
motionscalingimportanttothetask.Theforcereflectionratiolisthenincreasedfrom
zerountilcontactinstabilityarises.Standardteleroboticsystemscontrolledinthis
mannersetltovaluesmuchlessthanunity,attenuatingallforcefeedbacksignals
equivalently[25](1993)andinmanyotherpapers.
The[25]solveverycomplexmathematicalfunctionsthatIdonotdaretoreadallof
them.Butletsthink:
F_fandx_mistheforceandpositionofamass,andF_tandx_cistheforceand
positionofaspringconnectedwiththemass.
1
t c c
f c m
f c m
F K x
F K x
F K x

=
=
=
howstrongdoyouwanttofeelfromthespring?

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3. Whatarewegoingtodo?
3.1. Introductiontodualportmechanisms

3.2. MassesandLinks

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3.3. Themodel
Wechoosethemodelwhichhas2Massesand1Link.Thelinkhereistheideal
spring.Notethat,allthecomponentshereareidealmechanicalcomponents.

Figure1.1:Thesimplemodelanexample.

Withthismodel,weseparateitto2case.Thefirstcase,wepushthem1withforceF,
thenweremovethesystemsothatitcanmoveitself.Thesecondexperiment,wewill
keeptheforceFontothem1untilstop.
Thesourcecodeisasfollowing:

%Constants
m1 = 30; m2 = 10; k = 100; F1 = 1; F2 = 0;
T=0.01; N = 1000; tt = 0:T:T*(N-1);
%Initial values
pm = zeros(2,N);
m=[m1;m2];
fk = zeros(1,N);
% Process
for i=2:N
%Forces applied to the two masses
fm(:,i) = [F1 - fk(:,i); F2 + fk(i)];
%F1 = 0;
%Positions of the two masses
pm(1,i+1) = fm(1,i)/m(1)*T*T + 2*pm(1,i)-pm(1,i-1);
pm(2,i+1) = fm(2,i)/m(2) *T*T+ 2*pm(2,i)-pm(2,i-1);
%Force outputs from the spring
%pm2(:,i+1)=0;
fk(:,i+1) = k*(pm(1,i+1) - pm(2,i+1) + pm(2,1));
end

m2
m1
F
k
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3.4. Pushandleave(Impulseresponse)
3.4.1. m1=10<m2=30

3.4.2. m1=30=m2

3.4.3. m1=30>m2=10

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3.5. Pushcontinously
3.5.1. m1=10<m2=100

3.5.2. m1=10(0)>=m2=10

3.6. Comparethetypicalmethodsandthisdiscretemethod
Thesimulinkdiagramasfollowing:

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Theresultstocomparethe2methodsareshownbelow:

Wecanseethatthesetwomethodsgeneratethesameresults!
Thistestisdownwiththeimpulseresponseasthefirstcasepushandleave.The
resultsofcontinouslypushingarethesame.Theresultsareasfollowing:

Thistestisdonewith

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%Parameters
k = 100
m1 = 10
m2 = 100
F = 1

Throughtoutthisexample,whatdoyousee?
First,understandingaboutthesystem?Whatdoyouseefrommatlabsimulink?
Whatdoyoufeelaboutthehapticsyouhavewithmatlabsimulink?
Second,mathematically,thetwomodelsarethesame.
Third,parallelcomputingmayhelpustocomputeasocomplexsystemwithmasses
andlinks

3.7. WhatdoIthinkaboutoursystem?

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3.8. Howtocompute?

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4. Reference
[1]GOERTZ,R.C.,1952.Fundamentalsofgeneralpurposeremotemanipulators.
Nucleonics,10(11)Nov.,pp.36.45.
[2]GOERTZR.C.,1954..Electronicallycontrolledmanipulator.Nucleonics,12(11)
Nov.,pp.46.47.
[3]KATHERINEJ.KUCHENBECKERandGUNTERNIEMEYERInducedMasterMotion
inForceReflectingTeleoperation.ICRA2005.
[4]METINSITTI,TeleoperatedandAutomaticNanomanipulationSystemsusing
AtomicForceMicroscopeProbes,inProceedingofthe42ndIEEE,Conferenceon
DecisionandControl(IEEE,ed.),Maui,HawaiiUSA,pp.21182123,122003.
[5]G.BURDEA,Forceandtouchfeedbackforvirtualreality,JohnWiley&Sonsinc.,
1996.
[6]CLAUDECADOZ,ANNIELUCIANI,JEANLOUPFLORENS,NICOLASCASTAGNE
ACROEICAArtisticCreationandComputerInteractiveMultisensorySimulation
ForceFeedbackGestureTransducers.Proceedingsofthe2003ConferenceonNew
InterfacesforMusicalExpression(NIME03),Montreal,Canada
[7]HUBERTBAIERandGNTHERSCHMIDTTransparencyandStabilityofBilateral
KinestheticTeleoperationwithTimeDelayedCommunication.JournalofIntelligent
andRoboticSystems40:122,2004.2004KluwerAcademicPublishers.Printedinthe
Netherlands.
[8]ROBERTJ.ANDERSONandMARKW.SPONG,BilateralControlofTeleoperators
withTimeDelay.IEEETransactionsonAutomaticControl.Vol34,No.5,May1989.
[9]BLAKEHANAFORDandJEEHWANRYU,TimeDomainPasivityControlof
HapticInterfaces,IEEETransactionsonRoboticsandAutomation,Vol18,No.1,2002.
[10]JEEHWANRYU,DONGSOOKWONandBLAKEHANAFORD,Stability
GuaranteedControl:TimeDomainPassivityApproach,IEEETransactionsonControl
SystemsTechnology,Vol.12,No.6,Nov2004.
[11]R.ROSENBERGandD.KARNOP,IntroductiontoPhysicalSystemDynamics.New
York:McGrawHill,1983.
[12]ONDREJJEZ,ALINAVODABESANCON,SYLVAINMARLIEREandGILDAS
BESANCON,DynamicModelingofaNanomanipulatorChain,2004.
[13]DANHERIKSSON,ROLFJOHANSSONandANDERSROBERTSSON,Observer
basedImpedanceControlinRobotics,5thIFACSymposiumNonlinearControl
SystemsDNOLCOS01E,StPetersburg,Russia,July2001.
[14]CARSTENPREUCHE,GERDHIRZINGER,JEEHWANRYUandBLAKE
HANAFORD,TimeDomainPassivityControlfor6DegreesofFreedomHaptic
Displays,2006(CITESEER)
[15]SYLVAINMARLIERE,ConceptionetRealisationdunNouvelOutilaRealiteMixte
etRetourdEffortpourToucheretCreerlesNanomondes,Thesepourobtenirlegrade
dedocteurdelINPG,SpcialitAutomatiqueProductique,2006.
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[16]KAZUMASAHIRAIandYOSHIAKISATOH,StabilityofaSystemwithStable
TimeDelay,IEEETransactionsonAutomaticControl,Vol.AC25,No.3,June1980.
[17]PAOLOFIORINIandROBERTOOBOE,InternetBasedTelerobotics:Problemsand
Approaches,ICRA1997.
[18]ROBERTOOBOEandPAOLOFIORINI,ADesignandControlEnvironmentfor
InternetBasedTelerobotics,InternationJournalofRoboticsResearch,Spring1998.
[19]ANNIELUCIANI,DANIELAURMA,SYLVAINMARLIEREandJOELCHEVRIER,
PRESENCE:TheSenseofBelievabilityofInaccessibleWorlds,ScienceDirect,
Computer&Graphics28(2004)509517.
[20]KATHERINEJ.KUCHENBECKER,JUNEGYUPARKandGUNTERNIEMEYER,
CharacterizingtheHumanWristforImprovedHapticInteraction,Proceedingsof
IMECE2003.
[21]G.NIEMEYERandJ.E.SLOTINE,StableAdaptiveTeleoperation.IEEEJournalof
OceanicEngineering,16:152162,January1991.
[22]N.DIOLAITI,G.NIEMEYER,F.BARBAGLIandJ.K.SALISBURY,ACriterionfor
thePassivityofHapticDevices,2005.
[23]NICOLADIOLAITI,GUNTERNIEMEYER,FEDERICOBARBAGLIandJ.KENNETH
SALISBURY,StabilityofHapticRendering:Discretization,Quantization,TimeDelay
andCoulombEffects,2005.
[24]KATHERINEJ.KUCHENBECKERandGUNTERNIEMEYERCancelingInduced
MasterMotionInForceReflectingTeleoperation,ProceedingsofIMECE2004.
[25]DALEA.LAWRENCE,StabilityandTransparencyinBilateralTeleoperation,IEEE
TransactionsonRoboticsandAutomation,Vol.9,No.5,Oct1993.

[i]www.answers.com:somedefinitions
[ii]www.cs.cmu.edu/~baraff:AnIntroductiontoPhysicallyBasedModelling
[iii]http://www.catb.org/~esr/writings/taouu/html/ch02.html:Chapter2.History:ABrief
HistoryofUserInterfaces
[iv]http://en.wikipedia.org/wiki/Cathodic_ray_tube:HistoryofCathodicRayTubeand
CRT
[v]http://sklabwww.pi.titech.ac.jp/~seahak/vr.html:SpidarofTokyoInstituteof
Technology
[vi]http://en.wikipedia.org/wiki/Retina:Retina

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5. AppendixA:ImpedanceandAdmitancemodeinControl
Inelectricalengineering,theadmittance(Y)istheinverseoftheimpedance(Z).The
SIunitofadmittanceisthesiemens.OliverHeavisidecoinedtheterminDecember
1887.

where
Yistheadmittance,measuredinsiemens
Zistheimpedance,measuredinohms
Justasimpedanceiscomplexresistance,andtheconductanceGistheinverseG=
1/RofresistanceR,admittanceisalsocomplexconductance.
Likewise,admittanceismadeupofarealpart(theconductance),andanimaginary
part(thesusceptanceB),shownbytheequation

Themagnitudeofadmittanceisgivenby:

where
Gistheconductance,measuredinsiemens
Bisthesusceptance,measuredinsiemens

Inmechanicalsystems(particularlyinthefieldofhaptics),anadmittanceisa
dynamicmappingfromforcetomotion.Inotherwords,anequation(orvirtual
environment)describinganadmittancewouldhaveinputsofforceandwouldhave
outputssuchaspositionorvelocity.So,anadmittancedevicewouldsensetheinput
forceandadmitacertainamountofmotion.
Similartotheelectricalmeaningsofadmittanceandimpedance,animpedanceinthe
mechanicalsensecanbethoughtofastheinverseofadmittance.Thatis,itisa
dynamicmappingfrommotiontoforce.Animpedancedevicewouldsensetheinput
motionandimpedethemotionwithsomeforce.
Anexampleoftheseconceptsisavirtualspring.Theequationdescribingaspringis
HookesLaw,

Iftheinputtothevirtualspringisthespringdisplacement,x,andtheoutputisthe
forcethatthevirtualspringapplies,F,thenthevirtualspringwouldbeclassifiedasan
impedance.Iftheinputtothevirtualspringistheforceappliedtothespring,F,andthe
outputisthespringdisplacement,x,thenthevirtualspringwouldbeclassifiedasan
admittance.

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5.1. Impedancecontrolvs.admittancecontrol
Therearetwomajorwaysinwhichahapticdevicecanbecontrolled,theso
calledimpedancecontrolandadmittancecontrolparadigms.Bothalgorithmsare
discussedbelow.

5.1.1. Impedancecontrol
Inimpedancecontrol,theparadigmis:theusermovesthedevice,andthedevice
willreactwithaforceifneeded.Thisisthebasicinteractionbetweentheuserandthe
controlloop.Viewedfromthecontrolloop,theparadigmis:displacementinforce
out.

Insimulatedfreeair,theuserisfreetomovethedevice,andthemotordoesnotnot
havetodoanything.Incontrolterms:thegainfromchangesinpositiontochangesin
motorforceiszero.Thiswillholdevenifthedeviceisincontactwithahardphysical
surface.Thereisnospecialstabilityproblemthere,sincetheobjectcanstoptheend
effectorwithoutanyspecialreactionbeingrequiredofthemotor.
Incontactwithasimulatedhardsurfacehowever,thereisastabilityproblem.Any
smallchangeinpositionwillcauseaveryhighriseinmotorreactionforcewhilethe
deviceisincontactwiththevirtualwall.Thisimpliesaveryhighcontrolgainfrom
measureddevicepositiontomotorforce.Forstability,controlgainscannotbecome
infinitelyhigh.Therefore,inanimpedancecontrollerthereisalimittothehardnessor
stiffnessofavirtualsurfacethatcanberenderedstably.

5.1.2. Admittancecontrol
Inadmittancecontrol,theparadigmis:thedevicemeasurestheforcesthattheuser
exertsonit,andreactswithmotion(acceleration,velocity,position).Viewedfromthe
controlloop,theparadigmis:forceindisplacementout.

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Tosimulatefreeair,thedeviceneedstoaccelerateveryquicklyatthelightest
touch.Thismeansaveryhighcontrolgainfromforceinputtoaccelerationoutput.A
verylowsimulatedmassmeansaveryhighcontrolgain.So,admittancecontrolled
deviceshaveapotentialstabilityprobleminfreeair,whenthemassneedstobe
low.Thesameholdsonaphysicalhardsurface.Asmallmovementofthemachinewill
giveastrongriseincontactforefromthephysicalsurface.Itisthephysical
environmentwhichclosestheadmittancecontrolloopwithaveryhighgainfrom
positiontoforcethistime,creatingcontactinstability.Onasimulatedvirtualsurface
however,averyhighforcewillcommandonlyaverysmallmotion.Infact,onforan
infinitelystiffsimulatedsurface,thecontrolgainfromforcetopositioniszero.

6. AppendixB:WordsExplanations
DelayjitterisonekindofjitterreferredtoinRTSP.
Itisthefluctuation/variationofendtoenddelayfromonepackettothenextpacket
withinthesamepacketstream/connection/flow.
Example:
Packetsaretransmittedattheintervalof20ms.
Ifthe2ndpacketreachesafter30mswithrespecttothe1stpacketarrival.Jitter=10
ms.Thisisreferringasdispersion.
Ifthe2ndpacketreachesafter10mswithrespecttothe1stpacketarrival.Jitter=+10
ms.Thisisreferringasclumping.

7. AppendixC:Dualportispassiveandlosslesscommunicationline
DefinitionB.1:Annportissaidtobepassiveifandonlyifforanydependentsetof
nportflows,
i
v injectedintothesystem,andefforts
j
F appliedacrossthesystem:
0
( ) ( ) 0
T
F t v t dt

Where
1 2 2
[ , ,..., ] ( )
T n
n
F F F F L R
+
= and
1 2 2
( ) [ , ,..., ] ( )
T n
n
v t v v v L R
+
=
Inaddition,annportissaidtobelosslessifandonlyif
0
( ) ( ) 0
T
F t v t dt