Human-Centered Haptics: Model-based fault-tolerant control algorithms

In this project we investigate model-based control algorithms for bilateral teleoperation, subject to communication delays. We focus on human-centered controller design and investigate the reflection of artificial guidance and repulsive forces, also known as Haptic Shared Control.

PhD Candidate: Dennis Heck
Supervisor: dr. Alessandro Saccon
Promoter: prof. dr. Henk Nijmeijer
Project Funding: STW
Project Period: September 2011 - August 2015

This project is part of the Human-centered Haptics project (H-Haptics , see www.h-haptics.nl). We investigate model-based control algorithms for bilateral teleoperation, subject to communication delays. In bilateral teleoperation, a human operator interacts with a master device (for example a joystick) to execute tasks with a slave device (a robotic arm) in a remote environment. The interaction forces between the slave and the remote environment are reflected to the master device to help the operator execute the tasks. Hence, the operator is provided with haptic feedback.

In contrast to most existing control architectures, we do take the operator into account in the design of the control architectures. This should result in stable and safe systems and an improved operator performance. To achieve this, we focus on two control architectures.  In the first architecture, the full responsibility in controlling the remote operations is given to the human operator. The operator takes care of the optimal path planning for the remote device, collision avoidance and hardware failures. In the second architecture, information coming from additional sensors (cameras, laser-range finders, etc.) is converted to artificial forces, which will be presented to the operator via the master device (Haptic Shared Control). This should assist the operator in performing complicated remote tasks.