PSO-SVM-based novel haptic interface controller design
by Naveen Kumar; Jyoti Ohri
International Journal of Computer Aided Engineering and Technology (IJCAET), Vol. 17, No. 4, 2022

Abstract: The key performance issues in the haptic system are stability and transparency. A system's stability, is defined as minimum oscillations and vibration in the output response as well as in the device itself, whereas transparency is defined as minimum error between the applied force or velocity and executed in the virtual environment (VE) of haptic system. Here, when we control the stability of the system, transparency gets hampered and vice-versa. To overcome this problem, a novel optimal haptic interface controller (HIC) has been designed using modern techniques (neural network, support vector machine, and PSO optimised SVM). This optimal HIC employs the input force provided by the user and the feedback force from the haptic device. The error between the applied force and the feedback force should be minimised to maximise transparency. Moreover, there are always some differences between the theoretical model and the physical model. To ensure the designed controller works in the physical device, an effort also has been made to accommodate the uncertainty and delay, which makes the major difference between simulated and physical models. The results obtained using optimal HIC have been compared with the conventional method, which shows improvement in transparency.

Online publication date: Mon, 31-Oct-2022

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Computer Aided Engineering and Technology (IJCAET):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com