Hybrid Active-Passive Actuation
- The REACH lab is involved in a collaborative effort with Oculus VR, LLC to develop hybrid actuation approaches for haptic interfaces. Approaches include, the distributed macro mini and additional hybrid active-passive actuation schemes. Research efforts include, developing improved control and estimation strategies, optimization of device and electromagnetic designs, and investigating the interplay between control, sensing, and the device’s underlying system dynamics. Ultimately, the result is the best possible haptic display.
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Recent work
- Congratulations: Chembian Parthiban has successfully defended his Ph.D. Dissertation February 8th, 2019: Please join me in congratulating Chembian on the successful defense of his Ph.D. dissertation: “Stability, Performance and Control of High Power, High Performance Kinesthetic Haptic Interface “. A hearty thanks to Chembian for all his hard work!
- NSF National Robotics Initiative Project Funded (High-Power Physically Interactive Human-Robot Collaboration through Balanced Active-Passive Hybrid Actuation) A new project, entitled “High-Power Physically Interactive Human-Robot Collaboration through Balanced Active-Passive Hybrid Actuation” has been funded through the National Science Foundation’s (NSF) National Robotics Initiative (NRI). An overview of the project is given below: PI: Prof. Peter Adaczyk Department of Mechanical Engineering University of Wisconsin – Madison Co-PI: Prof. Michael Zinn Department of Mechanical Engineering University of Wisconsin – Madison Overview The research will ...
- Haptics Symposium 2018: Best WIP Paper Award, Best Student Presentation Finalist, and Best Paper Nominee Congratulations to this year’s REACH lab members for a very successful IEEE Haptics Symposium. Best Work-In-Progress Paper Award (Patrick Dills) Dills, P., Fufuengsin, I., Zinn, M., Design and Analysis of a High Performance Impedance Based Hybrid Haptic Interface, IEEE Haptics Symposium; March 25-28, 2018; San Francisco Best Student Presentation Finalist and Best Paper Nominee (Chembian Parthiban) Chembian Parthiban, Michael Zinn, ...
- IEEE Haptics Symposium 2018: Design and Analysis of a High Performance Impedance Based Hybrid Haptic Interface WINNER! – Best Work-In-Progress Paper This paper describes the design of a novel, high performance one degree-of-freedom hybrid haptic interface. The interface integrates a particle brake, a Series Elastic Actuator (SEA), and a small DC motor into a single actuator. Unlike existing hybrid designs, the one presented here does not suffer from a significant mismatch between passive and active torque capability. The ...
- IEEE Haptics Symposium 2018: Performance and Stability Limitations of Admittance-based Haptic Interfaces. Best Student Presentation Finalist & Best Paper Award Nominee In this paper, we describe an analytical model developed to investigate the performance limitations of admittance-based haptic interfaces. The model is used to investigate the effects that position control bandwidth and outer loop delay have on the stability and rendering range of an admittance-based interface. We show that the performance, as defined by both ...
- Milestone: Mechanical Design Review Completed! The Hybrid Actuation Project has completed its final mechanical design review for the one degree of freedom testbed. https://www.youtube.com/watch?v=K38cvl2kv4A&feature=youtu.be
- IEEE/ASME Transacations on Mechatronics 2013 – Development of a Parallel Actuation Approach for MR-Compatible Robotics Abstract — In recent years, the use of robotics to augment MRI diagnostic and interventional procedures has increased significantly. However, the demanding MRI environment precludes the use of most common actuation approaches. Alternative actuation concepts have been proposed but these solutions do not lend themselves to linear control structures. We present a new actuation method, using the motion of parallel ultrasonic motors ...