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Robotics and Automation Lab Haptic Interfaces

 

Haptic interfaces are devices that provide force and tactile feedback to the user as they interact with objects in a computer-generated virtual world.  With the help of such devices and by wearing a head-mounted display and position sensors, one can step inside a computer-generated virtual world to interact with virtual objects. For example, we can “hold” two digital parts (CAD models) in our hands and try to assemble them while feeling the interaction forces through the haptic interface. Such a system could enable evaluation of designs thoroughly before a physical prototype is manufactured leading to reduced time to market and cost. Other uses for haptics have been realized in areas of training, such as medical students practicing virtual surgery, soldiers performing a simulated military operation, in minimally invasive robotic surgery, teleoperated robots, prosthetics and robotic neuro-rehabilitation.

Our research effort has been focused on development of actuators and portable haptic devices.  Please click the links on the left to explore some of our projects.

 

U.S. Patents

  • Magnetorheological Devices and Associated Control Methods, U.S. Patent 9,093,214 B2, July 28, 2015.
  • Linear MR-Brake as a High Force and Low Off-state Friction Actuator, U.S. Patent 9,109,650 B2, August 18, 2015.

 

Selected Publications 

  • “AirGlove: A force feedback device for virtual reality,” Proceedings of Telemanipulation and Telepresence Technologies VIII, SPIE Conference, Proc. SPIE vol. 4570, pp. 69-77, Boston, MA, October 2001.
  • “Design of a haptic device for weight sensation in virtual environments,” Proceedings of DETC’02: ASME 2002 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, October 2, 2002, Montreal, Canada.
  • “Weight sensation in virtual environments using a haptic device with air jets,” ASME Transactions, Journal of Computing and Information Science in Engineering, vol. 3, no. 2, June 2003.
  • “Magnetorheological fluid brake for a force feedback glove for virtual environments,” Proceedings of IDETC/CIE 2005: ASME 2005 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, September 2005, Long Beach, California.
  • “AFM-based nanomanipulator with haptic interface,” Proceedings of EuroHaptics 2006, July 2006, Paris, France.
  • “Finger mechanism of a haptic glove for force feedback in virtual environments,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition , November, Seattle, WA, 2007.
  • “Haptic glove with MR-brakes for Virtual Reality,” IEEE/ASME Transactions on Mechatronics, IEEE/ASME Transactions on Mechatronics, vol. 14, no. 5, October 2009.
  • “Haptic gloves with compact finger mechanism using active and passive actuation,” Proceedings of the ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2009 , San Diego, CA, 2009 .
  • “Haptic gloves with compact finger mechanism using active and passive actuation,” Proceedings of the ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2009 , San Diego, CA, 2009 .
  • “Compact MR-brake with serpentine flux path for haptics applications,” Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems Salt Lake City, UT, 2009.
  • “Haptic Glove with MR-brakes for distributed finger force feedback,” Presence, MIT Press , vol. 18, no. 6, December 2009.
  • “Spherical brake with MR fluid as a multi degree of freedom actuator for haptics,” Journal of Intelligent Material Systems and Structures , vol. 20, pp. 2149-2160, December 2009.
  • ” Serpentine Flux Path for High Torque MRF Brakes in Haptics Applications,” Mechatronics , vol. 20, pp. 377-383, February 2010.
  • ” Characterization of Nintendo Wii remote for 3D tracking in virtual reality,” ASME 2010 World Conference on Innovative Virtual Reality, WINVR 2010, Ames, Iowa, May 2010.
  • “Spherical MR-brake with Nintendo Wii Sensors for Haptics,”  Proceedings of EuroHaptics 2010, Amsterdam, July 2010.
  • “Optimum Design of 6R Passive Haptic Robotic Arm for Implant Surgery,” Proceedings of EuroHaptics 2010, Amsterdam, Holland, July 2010.
  • “Mechanical brake design for passive haptic device,” Proceedings of 2011 IEEE International Conference on Advanced Robotics, ICAR2011, Tallinn, Estonia, June 2011.
  • “Force control with hybrid actuator for virtual needle insertion,” Proceedings of 2011 IEEE WorldHaptics Conference, Istanbul, Turkey, June 2011.
  • “Design optimization of a MR-brake actuator,” Proceedings of 2011 ASME International Mechanical Engineering Conference and Exposition,” Colorado, November 2011.
  • “Blending algorithm for position control with a hybrid actuator made of DC Servomotor and brake,” Industrial Robot, vol. 38, issue 5, 2011.
  • “Haptic joystick with hybrid actuator using air muscles and spherical MR-brake,” Mechatronics, vol. 21, pp. 952-960, 2011.
  • “Passive haptic Interface with MR-brakes for Dental Implant Surgery,” Presence, MIT Press, vol. 20, no. 3, pp. 207-222, June 2011.
  • “Interactive design optimization of MR-brake actuators using Taguchi method,” Smart Materials and Structures, vol. 20, no. 10, October 2011.
  • “Control strategies for a linear MR-brake with serpentine flux path for haptics,” Proceedings of ASME 2012 Biennial Conference On Engineering Systems Design and Analysis ESDA 2012, Nantes, France, July 2012.
  • “Taguchi methodology to optimize the design of a MR-brake with permanent magnet,” Proceedings of ASME 2012 Biennial Conference On Engineering Systems Design and Analysis ESDA 2012, Nantes, France, July 2012.
  • “Multi-criteria Design Optimization of an MR-brake with Permanent Magnet Using The Taguchi Methodology,” Proceedings of 11th ASME Biennial Conference on Engineering Systems Design and Analysis, Nantes, France, July 2012.
  • “Haptic interface with hybrid actuator for virtual needle insertion and tissue cutting,” IEEE Haptics Symposium, Vancouver B.C., Canada, March 2012.
  • “Magnetic induction control with embedded sensor for elimination of hysteresis in magnetorheological brakes,” Journal of Intelligent Material Systems and Structures, vol. 23, no. 4, pp. 426-439, 2012.
  • “Stability and transparency improvement in haptic devices employing both MR-brake and active actuator,” Proceedings of  RoMAN, 21st IEEE Int. Symposium on Robot and Human Interactive Communication, September 2012, Paris, France.
  • “Transparency improvement in haptic devices with torque compensator using motor current,” Proceedings of EuroHaptics 2012, Tampere, Finland, June 2012.
  • “New magnetorheological actuator with embedded Hall-effect sensor for hysteresis elimination,” Proceedings of 2012 NSF CMMI Engineering Research and Innovation Conference, Boston, July 9-12, 2012
  • Hybrid Control Algorithm to Improve Both Stable Impedance Range and Transparency in Haptic Devices”, Mechatronics, vol. 23, pp. 121-134, 2013.
  • “Linear MR-Brake with Serpentine Flux Path as a High Force and Low Off-State Friction Actuator for Haptics,” Journal of Intelligent Material Systems and Structures, Vol. 24 Issue 14, pp. 1699-1713, September 2013.
  • “MR-Brake with Permanent Magnet as Passive Actuator for Haptics,” Proceedings of 2013 IEEE World Haptics Conference (WHC 2013), Daejeon, Korea, April 2013.
  • “Position Control of Multi-DOF Hybrid Actuator with Air Muscles and MR-brake,” Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, Portland, OR, August 2013.
  • “Haptic Device With Spherical MR-Brake For Wrist Rehabilitation,” Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, Portland, OR, August 2013.
  • “Small MR-Brake with Serpentine Flux Path and T-Rotor for Haptics,” Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, Portland, OR, August 2013.
  • “A First Order Transfer Function to Balance the Workload in Brake-Motor Hybrid Actuators”, 2014 IEEE Haptics Symposium, Feb. 2014, Houston, TX, USA.
  • “Haptic Interface with Hybrid Actuator for Virtual Tissue Cutting,” Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2015, Boston, MA, August 2015.
  • “Virtual Tissue Cutting with Haptic Feedback Using a Hybrid Actuator with DC Servomotor and MR-Brake,” Invited paper for special issue: Virtual Environment Systems: Emerging Technologies and Applications, ASME Journal of Computing and Information Science in Engineering (JCISE), vol. 16, September 2016.
  • “Pneumatic cylinder with magnetorheological brake using serpentine and helix flux guide as a linear hybrid actuator for haptics,” Journal of Intelligent Materials, Systems and Structures, vol. 28, issue 10, pp. 1303-1321, 2017.
  • “Pneumatic actuator with embedded MR-brake for haptics,” Proceedings of 2017 IEEE World Haptics Conference (WHC 2017), Furstenfeldbruck (Munich), Germany, June 2017.
  • “Haptic interface with linear magnetorheological (MR) brakes for drone control,” Proceedings of the 15th International Conference on Ubiquitous Robots (UR 2018), Hawaii, June 2018.
  • “Magneto-rheological actuator with permanent magnets for low-power activation,” Journal of Intelligent Material Systems and Structures, Vol. 31 Issue 6, pp. 801-817, September 2020.