Authors: Naveen Kumar; Jyoti Ohri
Addresses: Electrical Engineering Department, National Institute of Technology Kurukshetra, India ' Electrical Engineering Department, National Institute of Technology Kurukshetra, India
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.
Keywords: stability; transparency; haptic system; neural network; support vector machine; SVM; particle swarm optimisation; PSO; haptic interface controller; HIC.
International Journal of Computer Aided Engineering and Technology, 2022 Vol.17 No.4, pp.431 - 444
Received: 04 Mar 2020
Accepted: 15 May 2020
Published online: 31 Oct 2022 *