Current wireless, small-scale robots have restricted manipulation capabilities, and limited intuitive tools to control their motion. This paper presents a novel teleoperation system with haptic feedback for the control of untethered soft grippers. The system is able to move and open/close the grippers by regulating the magnetic field and temperature in the workspace. Users can intuitively control the grippers using a grounded haptic interface, that is also capable of providing compelling force feedback information as the gripper interacts with the environment. The magnetic closed-loop control algorithm is designed starting from a Finite Element Model analysis. The electromagnetic model used is validated by a measurement of the magnetic field with a resolution of 0.1 mT and sampling rate of 6.8×106 samples/m2. The system shows an accuracy in positioning the gripper of 0.08 mm at a velocity of 0.81 mm/s. The robustness of the control and tracking algorithms are tested by spraying the workspace with water drops that cause glares and related disturbances of up to 0.41 mm.

Ongaro, F., Pacchierotti, C., Yoon, C., Prattichizzo, D., Gracias, D.H., & Misra, S. (2016). Evaluation of an electromagnetic system with haptic feedback for control of untethered, soft grippers affected by disturbances. In 2016 6TH IEEE INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB) (pp.900-905). New York : IEEE Computer Society [10.1109/BIOROB.2016.7523742].

Evaluation of an electromagnetic system with haptic feedback for control of untethered, soft grippers affected by disturbances

PACCHIEROTTI, CLAUDIO;PRATTICHIZZO, DOMENICO;
2016

Abstract

Current wireless, small-scale robots have restricted manipulation capabilities, and limited intuitive tools to control their motion. This paper presents a novel teleoperation system with haptic feedback for the control of untethered soft grippers. The system is able to move and open/close the grippers by regulating the magnetic field and temperature in the workspace. Users can intuitively control the grippers using a grounded haptic interface, that is also capable of providing compelling force feedback information as the gripper interacts with the environment. The magnetic closed-loop control algorithm is designed starting from a Finite Element Model analysis. The electromagnetic model used is validated by a measurement of the magnetic field with a resolution of 0.1 mT and sampling rate of 6.8×106 samples/m2. The system shows an accuracy in positioning the gripper of 0.08 mm at a velocity of 0.81 mm/s. The robustness of the control and tracking algorithms are tested by spraying the workspace with water drops that cause glares and related disturbances of up to 0.41 mm.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11365/996585