This article presents a novel kinematic model and controller design for a mobile robot with four Centered Orientable Conventional (COC) wheels. When compared to non-conventional wheels, COC wheels perform better over rough terrain, are not subject to vertical chatter and offer better braking capability. However, COC wheels are pseudo-omnidirectional and subject to nonholonomic constraints. Several established modeling and control techniques define and control the Instantaneous Center of Rotation (ICR); however, this method involves singular configurations that are not trivial to eliminate. The proposed method uses a novel ICR-based kinematic model to avoid these singularities, and an ICR-based nonlinear controller for one ‘master’ wheel. The other ‘slave’ wheels simply track the resulting kinematic relationships between the ‘master’ wheel and the ICR. Thus, the nonlinear control problem is reduced from 12th to 3rd-order, becoming much more tractable. Simulations with a feedback linearization controller verify the approach.
{"title":"Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control","authors":"V. Ramanathan, A. Zelenak, M. Pryor","doi":"10.1115/dscc2019-9123","DOIUrl":"https://doi.org/10.1115/dscc2019-9123","url":null,"abstract":"\u0000 This article presents a novel kinematic model and controller design for a mobile robot with four Centered Orientable Conventional (COC) wheels. When compared to non-conventional wheels, COC wheels perform better over rough terrain, are not subject to vertical chatter and offer better braking capability. However, COC wheels are pseudo-omnidirectional and subject to nonholonomic constraints. Several established modeling and control techniques define and control the Instantaneous Center of Rotation (ICR); however, this method involves singular configurations that are not trivial to eliminate. The proposed method uses a novel ICR-based kinematic model to avoid these singularities, and an ICR-based nonlinear controller for one ‘master’ wheel. The other ‘slave’ wheels simply track the resulting kinematic relationships between the ‘master’ wheel and the ICR. Thus, the nonlinear control problem is reduced from 12th to 3rd-order, becoming much more tractable. Simulations with a feedback linearization controller verify the approach.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"21 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88360532","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, the problem of using a limited number of mobile sensors to sense/measure a time-varying distribution of a field over a multi dimensional space is considered. As the number of sensors, in general, is not adequate for capturing the dynamic distribution with the needed spatial resolution, the sensors are required to be transited between the sampled locations, resulting in intermittent measurement at each sampled location. Therefore, it becomes challenging to use the measured data to recover/restore not only the dynamic process at each sampled/measured location, but also the dynamic distribution over the entire measured space, with high temporal and spatial resolutions. Such a multi-mobile sensing problem, however, cannot be addressed by using existing methods directly. In this work, we propose to tackle this problem through the compressed sensing framework. The randomness requirement of the compressed sensing, however, results in the temporal-spatial coupling, and the constraints in selecting the sampled locations due to the limit of the sensor speed. We propose a spatial-temporal pairing method to avoid the temporal-spatial coupling, and a checking-and-removal process to remove the sensor speed constraint. Simulation results of a video recovery example is presented and discussed to illustrate the proposed method.
{"title":"Multi-Mobile Sensing With Temporal-Spatial Coupling via Compressed Sensing","authors":"Tianwei Li, Q. Zou","doi":"10.1115/dscc2019-9218","DOIUrl":"https://doi.org/10.1115/dscc2019-9218","url":null,"abstract":"\u0000 In this paper, the problem of using a limited number of mobile sensors to sense/measure a time-varying distribution of a field over a multi dimensional space is considered. As the number of sensors, in general, is not adequate for capturing the dynamic distribution with the needed spatial resolution, the sensors are required to be transited between the sampled locations, resulting in intermittent measurement at each sampled location. Therefore, it becomes challenging to use the measured data to recover/restore not only the dynamic process at each sampled/measured location, but also the dynamic distribution over the entire measured space, with high temporal and spatial resolutions. Such a multi-mobile sensing problem, however, cannot be addressed by using existing methods directly. In this work, we propose to tackle this problem through the compressed sensing framework. The randomness requirement of the compressed sensing, however, results in the temporal-spatial coupling, and the constraints in selecting the sampled locations due to the limit of the sensor speed. We propose a spatial-temporal pairing method to avoid the temporal-spatial coupling, and a checking-and-removal process to remove the sensor speed constraint. Simulation results of a video recovery example is presented and discussed to illustrate the proposed method.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"11 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82776985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
J. Yazji, Hamza Zaidi, Luke Thomas Torres, C. Leroy, A. Keow, Zheng Chen
Buoyancy control devices are essential to maneuver ROV effectively underwater. Many approaches have been used to tackle this problem such as compressed air ballast which can take in water and eject it using compressed air and the use of high-density foam plates that can be added or removed to increase or decrease the buoyancy. Presented in this paper is a novel approach for buoyancy control, which utilizes the electrolysis and reverse electrolysis capabilities of a reversible polymer electrolyte membrane (PEM) fuel cell to adjust the volume of a small vehicle, and change its depth. Making use of the two processes helps restore some of the energy consumed by the system through the process of reverse electrolysis and also for building a fully-closed system, that is, one that does not require any water or gas flow to the surrounding. Modeling of the device is explained and a proportional-derivative (PD) controller is designed to control it at a certain depth using a single sensor measurement. Experiments validate the controller performance.
{"title":"A Novel Buoyancy Control Device Using Reversible PEM Fuel Cells","authors":"J. Yazji, Hamza Zaidi, Luke Thomas Torres, C. Leroy, A. Keow, Zheng Chen","doi":"10.1115/dscc2019-9155","DOIUrl":"https://doi.org/10.1115/dscc2019-9155","url":null,"abstract":"\u0000 Buoyancy control devices are essential to maneuver ROV effectively underwater. Many approaches have been used to tackle this problem such as compressed air ballast which can take in water and eject it using compressed air and the use of high-density foam plates that can be added or removed to increase or decrease the buoyancy. Presented in this paper is a novel approach for buoyancy control, which utilizes the electrolysis and reverse electrolysis capabilities of a reversible polymer electrolyte membrane (PEM) fuel cell to adjust the volume of a small vehicle, and change its depth. Making use of the two processes helps restore some of the energy consumed by the system through the process of reverse electrolysis and also for building a fully-closed system, that is, one that does not require any water or gas flow to the surrounding. Modeling of the device is explained and a proportional-derivative (PD) controller is designed to control it at a certain depth using a single sensor measurement. Experiments validate the controller performance.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"38 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77844497","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper develops and demonstrates cooperative collision avoidance control on two robotic fish propelled by a servo motor and an ionic polymer-metal composite (IPMC)-driven fish tail. First, experiments conducted on a servo motor/IPMC-driven fish demonstrate an impulsive turning behavior in the fish’s trajectory under the application of a specific frequency, amplitude of the servo motor, and a constant voltage on the IPMC joint. These experiments validate the ‘back relaxation’ of the IPMC joint by observing the angular velocity and the centripetal acceleration of the fish. This impulsive turning speed due to the ‘back relaxation’ of IPMC joint is subsequently modeled by a transfer function and this transfer function is then integrated into the development of the collision avoidance laws for the fish. The collision avoidance control law utilizes the impulsive turning capability of the robotic fish. An experimental validation of the collision avoidance law is performed.
{"title":"Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail","authors":"Xiongfeng Yi, Zheng Chen, A. Chakravarthy","doi":"10.1115/dscc2019-9228","DOIUrl":"https://doi.org/10.1115/dscc2019-9228","url":null,"abstract":"\u0000 This paper develops and demonstrates cooperative collision avoidance control on two robotic fish propelled by a servo motor and an ionic polymer-metal composite (IPMC)-driven fish tail. First, experiments conducted on a servo motor/IPMC-driven fish demonstrate an impulsive turning behavior in the fish’s trajectory under the application of a specific frequency, amplitude of the servo motor, and a constant voltage on the IPMC joint. These experiments validate the ‘back relaxation’ of the IPMC joint by observing the angular velocity and the centripetal acceleration of the fish. This impulsive turning speed due to the ‘back relaxation’ of IPMC joint is subsequently modeled by a transfer function and this transfer function is then integrated into the development of the collision avoidance laws for the fish. The collision avoidance control law utilizes the impulsive turning capability of the robotic fish. An experimental validation of the collision avoidance law is performed.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"4 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75642667","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper deals with electrostatically actuated Double-Walled Carbon Nanotubes (DWCNT) and Single-Walled Carbon Nanotubes (SWCNT) cantilever resonators. Frequency response of parametric resonance is investigated. Euler-Bernoulli cantilever beam model is used for both DWCNT and SWCNT. Electrostatic and viscous damping forces are applied on both types of resonators, DWCNT and SWCNT. In this investigation, soft AC voltage excitation is assumed. For the DWCNT, an intertube van der Waals force is present between the two concentric carbon nanotubes (CNTs), coupling their motion and acting as a nonlinear spring. The nonlinearities in the vibration are provided by the electrostatic (both SWCNT and DWCNT) and intertube van der Waals forces (DWCNT). The Method of Multiple Scales (MMS) is a perturbation method that provides uniformly valid approximations for weakly nonlinear systems. A Reduced-Order-Model (ROM) is developed and numerically solved using AUTO-07P (bifurcation and continuation software). Since large tip deflections are investigated in this paper, only coaxial vibration of the DWCNT is considered. Parametric resonance is investigated, as well as the influences of damping and voltage. Lastly, the effect of intertube van der Waals force on the bifurcation and stability of the DWCNT is reported.
{"title":"Comparison of Frequency Response of Parametric Resonance of DWCNT and SWCNT Under Electrostatic Actuation","authors":"D. Caruntu, E. Juarez","doi":"10.1115/dscc2019-9171","DOIUrl":"https://doi.org/10.1115/dscc2019-9171","url":null,"abstract":"\u0000 This paper deals with electrostatically actuated Double-Walled Carbon Nanotubes (DWCNT) and Single-Walled Carbon Nanotubes (SWCNT) cantilever resonators. Frequency response of parametric resonance is investigated. Euler-Bernoulli cantilever beam model is used for both DWCNT and SWCNT. Electrostatic and viscous damping forces are applied on both types of resonators, DWCNT and SWCNT. In this investigation, soft AC voltage excitation is assumed. For the DWCNT, an intertube van der Waals force is present between the two concentric carbon nanotubes (CNTs), coupling their motion and acting as a nonlinear spring. The nonlinearities in the vibration are provided by the electrostatic (both SWCNT and DWCNT) and intertube van der Waals forces (DWCNT). The Method of Multiple Scales (MMS) is a perturbation method that provides uniformly valid approximations for weakly nonlinear systems. A Reduced-Order-Model (ROM) is developed and numerically solved using AUTO-07P (bifurcation and continuation software). Since large tip deflections are investigated in this paper, only coaxial vibration of the DWCNT is considered. Parametric resonance is investigated, as well as the influences of damping and voltage. Lastly, the effect of intertube van der Waals force on the bifurcation and stability of the DWCNT is reported.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"5 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75231005","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A. Haber, F. Pecora, Mobin Uddin Chowdhury, Melvin Summerville
Identification, estimation, and control of temperature dynamics are ubiquitous and challenging control engineering problems. The main challenges originate from the fact that the temperature dynamics is usually infinite dimensional, nonlinear, and coupled with other physical processes. Furthermore, the dominant system time constants are often long, and due to various time constraints that limit the measurement time, we are only able to collect a relatively small number of input-output data samples. Motivated by these challenges, in this paper we present experimental results of identifying the temperature dynamics using subspace and machine learning techniques. We have developed an experimental setup consisting of an aluminum bar whose temperature is controlled by four heat actuators and sensed by seven thermocouples. We address noise reduction, experiment design, model structure selection, and overfitting problems. Our experimental results show that the temperature dynamics of the experimental setup can be relatively accurately represented by low-order models.
{"title":"Identification of Temperature Dynamics Using Subspace and Machine Learning Techniques","authors":"A. Haber, F. Pecora, Mobin Uddin Chowdhury, Melvin Summerville","doi":"10.1115/dscc2019-9007","DOIUrl":"https://doi.org/10.1115/dscc2019-9007","url":null,"abstract":"\u0000 Identification, estimation, and control of temperature dynamics are ubiquitous and challenging control engineering problems. The main challenges originate from the fact that the temperature dynamics is usually infinite dimensional, nonlinear, and coupled with other physical processes. Furthermore, the dominant system time constants are often long, and due to various time constraints that limit the measurement time, we are only able to collect a relatively small number of input-output data samples. Motivated by these challenges, in this paper we present experimental results of identifying the temperature dynamics using subspace and machine learning techniques. We have developed an experimental setup consisting of an aluminum bar whose temperature is controlled by four heat actuators and sensed by seven thermocouples. We address noise reduction, experiment design, model structure selection, and overfitting problems. Our experimental results show that the temperature dynamics of the experimental setup can be relatively accurately represented by low-order models.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"211 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75312662","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Recently, the automobile industry has begun applying an increasing number of systems to recycling wasted energy. One area that demands further research is the recycling and storing of energy in car suspension systems, especially in terms of developing an electronic interface to keep energy flowing bidirectionally. An electronic interface was designed to facilitate control of regenerative forces and store energy after the rectification process. The electronic interface was designed to be a symmetrical-bridgeless boost converter, due to this mechanism having few components and requiring little control effort. The converter was created such that it kept the current and voltage in phase for the maximum power factor. The input into this controller was the generator voltage used to determine the polarity of the pulse-width modulation, considering external road disturbances. Thus, this combination of converter and controller was able to replace an active controller. Variable resistance could be further controlled to manipulate the suspension damping force.
{"title":"Design and Control of a Power-Electronic Interface for Regenerative Suspension Systems","authors":"Abdullah A. Algethami, Won-jong Kim","doi":"10.1115/dscc2019-9081","DOIUrl":"https://doi.org/10.1115/dscc2019-9081","url":null,"abstract":"\u0000 Recently, the automobile industry has begun applying an increasing number of systems to recycling wasted energy. One area that demands further research is the recycling and storing of energy in car suspension systems, especially in terms of developing an electronic interface to keep energy flowing bidirectionally. An electronic interface was designed to facilitate control of regenerative forces and store energy after the rectification process. The electronic interface was designed to be a symmetrical-bridgeless boost converter, due to this mechanism having few components and requiring little control effort. The converter was created such that it kept the current and voltage in phase for the maximum power factor. The input into this controller was the generator voltage used to determine the polarity of the pulse-width modulation, considering external road disturbances. Thus, this combination of converter and controller was able to replace an active controller. Variable resistance could be further controlled to manipulate the suspension damping force.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"9 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84527369","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Kaian Chen, Zhaojian Li, Yan Wang, Jing Wang, Kai Wu, Dimitar Filev
In this paper, we treat the problem of online nonlinear system identification with parameter constraints. This approach is based upon our prior work on nonlinear system identification that exploits evolving Spatial-Temporal Filters (STF) to dynamically decompose system’s input/output space into a nonlinear combination of weighted local models. We extend the nonlinear system identification framework with the capability of dealing with linear equality and inequality parameter constraints. We leverage the gradient projection method in the local model parameter estimation process to inherently enforce the parameter constraints while retaining optimality. We apply the proposed algorithm to a turbo-charged gasoline engine system and promising results are demonstrated by experimental data.
{"title":"Online Nonlinear System Identification With Parameter Constraints: Application to Automotive Engine Systems","authors":"Kaian Chen, Zhaojian Li, Yan Wang, Jing Wang, Kai Wu, Dimitar Filev","doi":"10.1115/dscc2019-9092","DOIUrl":"https://doi.org/10.1115/dscc2019-9092","url":null,"abstract":"\u0000 In this paper, we treat the problem of online nonlinear system identification with parameter constraints. This approach is based upon our prior work on nonlinear system identification that exploits evolving Spatial-Temporal Filters (STF) to dynamically decompose system’s input/output space into a nonlinear combination of weighted local models. We extend the nonlinear system identification framework with the capability of dealing with linear equality and inequality parameter constraints. We leverage the gradient projection method in the local model parameter estimation process to inherently enforce the parameter constraints while retaining optimality. We apply the proposed algorithm to a turbo-charged gasoline engine system and promising results are demonstrated by experimental data.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"5 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82885436","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper proposes a control-oriented pressure wave model, utilizing outputs of a reaction-based two-zone engine combustion model developed earlier, to accurately predict the key knock characteristics. The model can be used for model-based knock prediction and control. An in-cylinder pressure wave model of oscillation magnitude decay is proposed and simplified to describe pressure oscillations due to knock combustion, and the boundary and initial conditions of the pressure wave model at knock onset are provided by the two-zone reaction-based combustion model. The proposed pressure wave model is calibrated using experimental data, and the chemical kinetic-based Arrhenius integral (ARI) and maximum amplitude of pressure oscillations (MAPO) are used as the evaluation criteria for predicting knock onset and intensity, and the knock frequency is studied with the fast Fourier transform (FFT). The calibrated model is validated for predicting knock onset timing, knock intensity and frequency. Simulation results are compared with the experimental ones to demonstrate the capability of predicting engine knock characteristics by the proposed model.
{"title":"A Real-Time Pressure Wave Model for Predicting Engine Knock","authors":"Ruixue C. Li, G. Zhu","doi":"10.1115/dscc2019-9147","DOIUrl":"https://doi.org/10.1115/dscc2019-9147","url":null,"abstract":"\u0000 This paper proposes a control-oriented pressure wave model, utilizing outputs of a reaction-based two-zone engine combustion model developed earlier, to accurately predict the key knock characteristics. The model can be used for model-based knock prediction and control. An in-cylinder pressure wave model of oscillation magnitude decay is proposed and simplified to describe pressure oscillations due to knock combustion, and the boundary and initial conditions of the pressure wave model at knock onset are provided by the two-zone reaction-based combustion model. The proposed pressure wave model is calibrated using experimental data, and the chemical kinetic-based Arrhenius integral (ARI) and maximum amplitude of pressure oscillations (MAPO) are used as the evaluation criteria for predicting knock onset and intensity, and the knock frequency is studied with the fast Fourier transform (FFT). The calibrated model is validated for predicting knock onset timing, knock intensity and frequency. Simulation results are compared with the experimental ones to demonstrate the capability of predicting engine knock characteristics by the proposed model.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"32 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86048381","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A foot interface may one day control a third arm to assist the hands with a difficult task, but the interface needs to be easy to use. Developing a good foot interface is challenging because of the need to provide support for the leg, allow the user to disengage with the interface without causing unwanted motion, and make it easy for the user to hold a set position. The addition of friction in the interface can enable the device to meet these goals without negatively affecting performance. Although teleoperation is a well explored area of research, relatively little research has been done that examines the effects of friction on the control interface. This paper presents an experiment in which two foot control interfaces are compared. One device uses friction and the other has no added friction, so there is little resistance to motion in any direction. The experiment uses a reaching task and a path-following task to compare the interfaces. The only statistically significant performance differences were that the friction interface reduced the time needed to stop at a target and reduced excess movement when stopping at a target. Also, subjects indicated a preference for the friction interface. The results show that friction can be added to a foot interface to support the device and user and provide some positive gains in performance.
{"title":"Comparison of Position Control With and Without Friction on a Foot Interface","authors":"B. Rudolph, Ryder C. Winck","doi":"10.1115/dscc2019-9019","DOIUrl":"https://doi.org/10.1115/dscc2019-9019","url":null,"abstract":"\u0000 A foot interface may one day control a third arm to assist the hands with a difficult task, but the interface needs to be easy to use. Developing a good foot interface is challenging because of the need to provide support for the leg, allow the user to disengage with the interface without causing unwanted motion, and make it easy for the user to hold a set position. The addition of friction in the interface can enable the device to meet these goals without negatively affecting performance. Although teleoperation is a well explored area of research, relatively little research has been done that examines the effects of friction on the control interface. This paper presents an experiment in which two foot control interfaces are compared. One device uses friction and the other has no added friction, so there is little resistance to motion in any direction. The experiment uses a reaching task and a path-following task to compare the interfaces. The only statistically significant performance differences were that the friction interface reduced the time needed to stop at a target and reduced excess movement when stopping at a target. Also, subjects indicated a preference for the friction interface. The results show that friction can be added to a foot interface to support the device and user and provide some positive gains in performance.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"25 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84411290","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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