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research-article

A Control-Oriented Framework for Direct Impulse-based Rendering of Haptic Contacts

[+] Author and Article Information
Arash Mohtat

Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Montreal, Québec, Canada
amohtat@cim.mcgill.ca

Colin/R. Gallacher

Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Montreal, Québec, Canada
crgallac@cim.mcgill.ca

Jozsef Kovecses

Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Montreal, Québec, Canada
jozsef.kovecses@mcgill.ca

1Corresponding author.

ASME doi:10.1115/1.4037733 History: Received August 15, 2016; Revised August 13, 2017

Abstract

In many haptic applications, producing a sharp feeling of impact is crucial for high-fidelity force feedback rendering of virtual objects. Although suitable for rendering collision-rich haptic interactions, impulse-based methods are rarely used in a pure form. Instead, they are combined with penalty-based elements in different forms such as virtual couplings and hybridization. In this paper, we first propose the direct impulse-based paradigm for rendering haptic contacts using a new sampled-data interpretation of the impact problem. Then, we cast this interpretation into a systematic framework entitled the generalized contact controller. This enables us to implement different contact rendering methods as controllers and to improve them by appropriating a wide array of analysis and design tools developed in the control field. We specifically show how to apply position and velocity corrections to the purely impulse-based contact controller for enhancing its energy and sustained contact characteristics, and how to add an anti-windup compensator for meeting actuation limits. These propositions are validated via simulation and experiments, as well as via human perception studies. Results show the promising aspects of the proposed impulse-based methods for generating a sharper unfiltered feeling of rigid-body contacts even at low sampling rates.

Copyright (c) 2017 by ASME
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