Technical Brief

A Haptic Bilateral System for the Remote Human–Human Handshake

[+] Author and Article Information
Nicolò Pedemonte

Department of Mechanical Engineering,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: nicolo.pedemonte.1@ulaval.ca

Thierry Laliberté

Department of Mechanical Engineering,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: Thierry.Laliberte@gmc.ulaval.ca

Clément Gosselin

Department of Mechanical Engineering,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: Clement.Gosselin@gmc.ulaval.ca

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 4, 2015; final manuscript received November 1, 2016; published online February 13, 2017. Assoc. Editor: Evangelos Papadopoulos.

J. Dyn. Sys., Meas., Control 139(4), 044503 (Feb 13, 2017) (5 pages) Paper No: DS-15-1549; doi: 10.1115/1.4035171 History: Received November 04, 2015; Revised November 01, 2016

The objective of this work is to develop a hardware and software system that allows two people to shake hands while being in different locations. To this end, a novel haptic interface that is capable of performing a robotic handshake was designed and built. In this paper, the communication system composed of two such interfaces is presented. The working principle of the haptic interface is first recalled. The attention is then focused on the development and the implementation of a control algorithm that allows bilateral interaction between the two users. Finally, the transparency of the system is qualitatively validated in terms of the exchanged forces and of the positions of the interfaces, through some preliminary experiments.

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Fig. 1

The HaRRI prototype

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Fig. 2

Remote haptic communication

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Fig. 3

Schematic representation of the control loop

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Fig. 4

The variable parameters during the handshake

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Fig. 5

The vertical rail mechanism

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Fig. 6

Remote handshake via the vertical rail mechanisms

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Fig. 7

Position of the interfaces along the rail for an example trajectory

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Fig. 8

Comparison of the grasping forces and the forces transmitted by the haptic device



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