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Touch and feel the human-unreachable world: haptic device and haptic rendering for haptic based teleoperation systems
September 7, 2015 @ 12:00 pm - 1:00 pm
by Dr. Guanyang Liu Beihang University, China
Based on the research of haptic interaction, physical interaction with virtual environment and human-unreachable environments is becoming a reality, to touch and feel a virtual world or real world. Whatever human-computer interaction or human-robot interaction, the research goal of haptic is to understand how haptic information can improve them, which includes haptic device design and haptic rendering algorithms. In this topic, two specially designed haptic devices for teleoperation systems are proposed, and the artificial neural network based forward kinematic solution is presented to guarantee the high update frequency of haptic loop while using an embedded control system. Genetic algorithm based dimensional synthesis is used to optimize the mechanism variables to meet all conditions and requirements. An object-based haptic control scheme is developed to provide a more identifiable force feedback for an operator to feel and grasp different objects in a teleoperation system. In this method, a pre-grasp process is defined during which the estimation of the object parameters is performed by using Hunt-Crossley dynamic models. Based on these parameters, the motion mapping coefficient of the teleoperation system is adjusted along with the difference in each object so that more refined grasp force feedback is provided.
Dr. Guanyang Liu is an Assistant Professor in the Department of Mechanical Engineering and Automation at Beihang University in China. He is a member of State Key Lab of Virtual Reality Technology and Systems in China. He is also a visiting research fellow at Monash University. He received his Ph.D. in Robotics Institute at Beihang University. He has been working in the fields of robot deign, dimensional synthesis and optimization, artificial neural network algorithms and haptic interaction. Currently, he is focusing on the research of haptic interaction and haptic device design. His research on haptic based human motor skill training is currently funded by National Science Foundation of China (NSFC). His research on haptic based teleoperation systems is funded by National High-Tech Research and Development Program of China (863 Program). His research on haptic device design is funded by the China Academy of Space Technology (CAST). He has published more than 40 papers, and served as proposal referee for NSFC and paper referee for more than ten journals and conferences.
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