Haptic augmentation towards a smart learning environment: The haptic lever design
Fecha
2020-05-01Autor
Garcia Luna, Francesco Jose
Nandayapa, Manuel
Vergara Villegas, Osslan Osiris
Rodriguez Ramirez, Alma Guadalupe
Metadatos
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This paper presents the design of a haptic interface called the Haptic Lever, to show
four force-related phenomena for haptic augmentation towards Smart Learning Environments. The Haptic
Lever is a mechanism with a sensorless torque control developed by means of a Disturbance Observer
(DOB) to render forces that allow users to feel virtual phenomena. The control response converges in
the torque reference as a result of a gain calibration and the DOB response. The Haptic Lever was
evaluated experimentally with four dynamic models for constant (membrane), linear (Hook’s law and
viscous damping), and exponential (Coulomb’s law) haptic augmentation. In the first experiment, the user
can feel a constant force when passing between two reference points and feel resistance while moving
through a virtual membrane. In the second and third experiment, the user can feel and interact with the
linear dynamic models of Hook’s law and viscous damping, in the form of a compression or tension
spring by pushing or pulling them, respectively. Finally, in the fourth experiment, the user can feel an
attraction or repulsion force between two virtual point charges that follows the exponential dynamic model
of Coulomb’s law. The results obtained from the experiments showed that the Haptic Lever successfully
rendered the equivalent forces to each virtual phenomenon. The haptic sensation is estimated in terms of the
torque response under a profile determined by the dynamic models. From the experimental results, it can be
observed that the torque in Nm corresponded to each represented phenomenon.