The REACH lab has been at the forefront of kinesthetic haptic interface research. We have addressed challenges in merging the competing characteristics required for effective performance including high force and high dynamic range with those required for inherent safety and dexterity, including low output impedance, transparency, and wide–band frequency force/torque content. In seeking solutions, we have investigated novel actuation and control topologies including parallel macro–mini approaches and hybrid active–passive actuation approaches and have explored various control methods that extend impedance and admittance–based formulations. The research has resulted in novel actuation approaches that have extended the capabilities of kinesthetic haptic interfaces, allowing for force, power, transparency and rendering ranges that significantly exceed those of state–of–the–art interfaces. The research results have applications in physically–assistive systems, rehabilitation devices, medical robotics, automation, and manufacturing, to name a few.
Zhang, B., M. Gleicher, M. Hagenow, B. Mutlu, and M. Zinn. Assessing the Perceived Realism of Kinesthetic Haptic Renderings Under Parameter Variations. IEEE Haptics Symposium (HAPTICS), 2022.
Dills, P., K. Gabardi, and M. Zinn. “Stability and Rendering Limitations of High-Performance Admittance Based Haptic Interfaces”. IEEE Haptics Symposium (HAPTICS), 2022, p. 8.
Dills, P., A. Dawson-Elli, K. Gruben, P. Adamczyk, and M. Zinn. “Stability and Rendering Limitations of a Parallel Hybrid Active-Passive Haptic Interface”. IEEE Haptics Symposium (HAPTICS), 2022, p. 8.
Gabardi, K., P. Dills, B. Zhang, and M. Zinn. “Factors Affecting the Stable Range of Damping and Mass in Admittance Type Haptic Devices”. IEEE World Haptics Conference (WHC), 2021, p. 1.
Dills, P., N. Colonnese, P. Agarwal, and M. Zinn. “A Hybrid Active-Passive Actuation and Control Approach for Kinesthetic Handheld Haptics”. IEEE Haptics Symposium (HAPTICS), 2020, p. 8.
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