Skip to main content
Top

2016 | OriginalPaper | Chapter

Improved Control Methods for Vibrotactile Rendering

Authors : Ha-Van Quang, Matthias Harders

Published in: Haptics: Perception, Devices, Control, and Applications

Publisher: Springer International Publishing

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

Many applications in the domain of haptics make use of vibrotactile rendering. One means for the delivery of the signals is employing voice coil actuators. However, existing control strategies for these exhibit limitations, for instance their dynamic characteristic is often not taken into account leading to output distortion. We propose two new control methods to improve vibrotactile rendering – once based on data-driven spline interpolation and once on following power spectral density. Both approaches rely on the idea of first decomposing a desired signal into a combination of harmonic components of different frequencies. For these, separate optimal gains are then employed to achieve a flat frequency response. The behavior of these controllers is examined in experiments and compared to a constant gain strategy. Both proposed methods result in improvements, such as lower spectral dissimilarity scores.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Literature
1.
go back to reference McMahan, W., Romano, J.M., Abdul Rahuman, A.M., Kuchenbecker, K.J.: High frequency acceleration feedback significantly increases the realism of haptically rendered textured surfaces. In: 2010 IEEE Haptics Symposium, pp. 141–148. IEEE (2010) McMahan, W., Romano, J.M., Abdul Rahuman, A.M., Kuchenbecker, K.J.: High frequency acceleration feedback significantly increases the realism of haptically rendered textured surfaces. In: 2010 IEEE Haptics Symposium, pp. 141–148. IEEE (2010)
2.
go back to reference Campion, G., Hayward, V.: Fundamental limits in the rendering of virtual haptic textures. In: World Haptics Conference, pp. 263–270 (2005) Campion, G., Hayward, V.: Fundamental limits in the rendering of virtual haptic textures. In: World Haptics Conference, pp. 263–270 (2005)
3.
go back to reference Wall, S.A., Harwin, W.: A high bandwidth interface for haptic human computer interaction. Mechatronics 11(4), 371–387 (2001)CrossRef Wall, S.A., Harwin, W.: A high bandwidth interface for haptic human computer interaction. Mechatronics 11(4), 371–387 (2001)CrossRef
4.
go back to reference Choi, S., Kuchenbecker, K.J.: Vibrotactile display: perception, technology, and applications. Proc. IEEE 101(9), 2093–2104 (2013)CrossRef Choi, S., Kuchenbecker, K.J.: Vibrotactile display: perception, technology, and applications. Proc. IEEE 101(9), 2093–2104 (2013)CrossRef
5.
go back to reference Tenzer, Y., Davies, B., et al.: Investigation into the effectiveness of vibrotactile feedback to improve the haptic realism of an arthroscopy training simulator. Stud. Health Technol. Inform. 132, 517–522 (2007) Tenzer, Y., Davies, B., et al.: Investigation into the effectiveness of vibrotactile feedback to improve the haptic realism of an arthroscopy training simulator. Stud. Health Technol. Inform. 132, 517–522 (2007)
6.
go back to reference Dennerlein, J.T., Millman, P.A., Howe, R.D.: Vibrotactile feedback for industrial telemanipulators. In: Sixth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME International Mechanical Engineering Congress and Exposition, vol. 61, pp. 189–195 (1997) Dennerlein, J.T., Millman, P.A., Howe, R.D.: Vibrotactile feedback for industrial telemanipulators. In: Sixth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME International Mechanical Engineering Congress and Exposition, vol. 61, pp. 189–195 (1997)
7.
go back to reference Culbertson, H., Unwin, J., Kuchenbecker, K.J.: Modeling and rendering realistic textures from unconstrained tool-surface interactions. IEEE Trans. Haptics 7(3), 381–393 (2014)CrossRef Culbertson, H., Unwin, J., Kuchenbecker, K.J.: Modeling and rendering realistic textures from unconstrained tool-surface interactions. IEEE Trans. Haptics 7(3), 381–393 (2014)CrossRef
8.
go back to reference Hachisu, T., Sato, M., Fukushima, S., Kajimoto, H.: Augmentation of material property by modulating vibration resulting from tapping. In: Isokoski, P., Springare, J. (eds.) EuroHaptics 2012, Part I. LNCS, vol. 7282, pp. 173–180. Springer, Heidelberg (2012)CrossRef Hachisu, T., Sato, M., Fukushima, S., Kajimoto, H.: Augmentation of material property by modulating vibration resulting from tapping. In: Isokoski, P., Springare, J. (eds.) EuroHaptics 2012, Part I. LNCS, vol. 7282, pp. 173–180. Springer, Heidelberg (2012)CrossRef
9.
go back to reference Turchet, L., Burelli, P., Serafin, S.: Haptic feedback for enhancing realism of walking simulations. IEEE Trans. Haptics 6(1), 35–45 (2013)CrossRef Turchet, L., Burelli, P., Serafin, S.: Haptic feedback for enhancing realism of walking simulations. IEEE Trans. Haptics 6(1), 35–45 (2013)CrossRef
10.
go back to reference Olsson, P., Nysjö, F., Singh, N., Thor, A., Carlbom, I.: Visuohaptic bone saw simulator: combining vibrotactile and kinesthetic feedback. In: SIGGRAPH Asia 2015 Technical Briefs, p. 10. ACM (2015) Olsson, P., Nysjö, F., Singh, N., Thor, A., Carlbom, I.: Visuohaptic bone saw simulator: combining vibrotactile and kinesthetic feedback. In: SIGGRAPH Asia 2015 Technical Briefs, p. 10. ACM (2015)
11.
go back to reference L’Orsa, R., Zareinia, K., Gan, L.S., Macnab, C., Sutherland, G.: Potential tissue puncture notification during telesurgery. In: Oakley, I., Brewster, S. (eds.) HAID 2013. LNCS, vol. 7989, pp. 30–39. Springer, Heidelberg (2013)CrossRef L’Orsa, R., Zareinia, K., Gan, L.S., Macnab, C., Sutherland, G.: Potential tissue puncture notification during telesurgery. In: Oakley, I., Brewster, S. (eds.) HAID 2013. LNCS, vol. 7989, pp. 30–39. Springer, Heidelberg (2013)CrossRef
12.
go back to reference McMahan, W., Kuchenbecker, K.J.: Dynamic modeling and control of voice-coil actuators for high-fidelity display of haptic vibrations. In: Haptics Symposium, pp. 115–122. IEEE (2014) McMahan, W., Kuchenbecker, K.J.: Dynamic modeling and control of voice-coil actuators for high-fidelity display of haptic vibrations. In: Haptics Symposium, pp. 115–122. IEEE (2014)
13.
go back to reference Tabatabaei Ardekani, I., Abdulla, W.H.: FxLMS-based active noise control: a quick review. In: Proceedings of Asia Pacific Signal and Information Processing Association Annual (APSIPA) Submit and Conference, pp. 1–11 (2011) Tabatabaei Ardekani, I., Abdulla, W.H.: FxLMS-based active noise control: a quick review. In: Proceedings of Asia Pacific Signal and Information Processing Association Annual (APSIPA) Submit and Conference, pp. 1–11 (2011)
14.
go back to reference Shen, Q., Spanias, A.: Time and frequency domain X block LMS algorithms for single channel active noise control. In: Proceedings of 2nd International Congress on Recent Developments in Air-and Structure-Borne Sound Vibration, pp. 353–360 (1992) Shen, Q., Spanias, A.: Time and frequency domain X block LMS algorithms for single channel active noise control. In: Proceedings of 2nd International Congress on Recent Developments in Air-and Structure-Borne Sound Vibration, pp. 353–360 (1992)
15.
go back to reference Reichard, K.M., Swanson, D.C.: Frequency-domain implementation of the filtered-x algorithm with on-line system identification. In: Proceedings of Recent Advances in Active Control of Sound Vibration, pp. 562–573 (1993) Reichard, K.M., Swanson, D.C.: Frequency-domain implementation of the filtered-x algorithm with on-line system identification. In: Proceedings of Recent Advances in Active Control of Sound Vibration, pp. 562–573 (1993)
16.
go back to reference Tang, X.L., Lee, C.-M.: Time-frequency-domain filtered-x LMS algorithm for active noise control. J. Sound Vib. 331(23), 5002–5011 (2012)CrossRef Tang, X.L., Lee, C.-M.: Time-frequency-domain filtered-x LMS algorithm for active noise control. J. Sound Vib. 331(23), 5002–5011 (2012)CrossRef
17.
go back to reference Della Flora, L., Grundling, H.A.: Time domain sinusoidal acceleration controller for an electrodynamic shaker. IET Control Theory Appl. 2(12), 1044–1053 (2008)CrossRef Della Flora, L., Grundling, H.A.: Time domain sinusoidal acceleration controller for an electrodynamic shaker. IET Control Theory Appl. 2(12), 1044–1053 (2008)CrossRef
18.
go back to reference Wellstead, P., Zarrop, M.: Self-tuning Systems: Control and Signal Processing. Wiley, New York (1991)MATH Wellstead, P., Zarrop, M.: Self-tuning Systems: Control and Signal Processing. Wiley, New York (1991)MATH
19.
go back to reference Yao, H.-Y., Hayward, V.: Design and analysis of a recoil-type vibrotactile transducer. J. Acoust. Soc. Am. 128(2), 619–627 (2010)CrossRef Yao, H.-Y., Hayward, V.: Design and analysis of a recoil-type vibrotactile transducer. J. Acoust. Soc. Am. 128(2), 619–627 (2010)CrossRef
20.
go back to reference Jacobsen, E., Lyons, R.: The sliding DFT. IEEE Sig. Process. Mag. 20(2), 74–80 (2003)CrossRef Jacobsen, E., Lyons, R.: The sliding DFT. IEEE Sig. Process. Mag. 20(2), 74–80 (2003)CrossRef
21.
go back to reference Jacobsen, E., Lyons, R.: An update to the sliding DFT. Sig. Process. Mag. 21(1), 110–111 (2004)CrossRef Jacobsen, E., Lyons, R.: An update to the sliding DFT. Sig. Process. Mag. 21(1), 110–111 (2004)CrossRef
22.
go back to reference Bradford, R., Dobson, R., Ffitch, J.: Sliding is smoother than jumping. In: International Computer Music Conference, pp. 287–290 (2005) Bradford, R., Dobson, R., Ffitch, J.: Sliding is smoother than jumping. In: International Computer Music Conference, pp. 287–290 (2005)
23.
go back to reference Culbertson, H., Lopez Delgado, J.J., Kuchenbecker, K.J.: One hundred data-driven haptic texture models and open-source methods for rendering on 3D objects. In: IEEE Haptics Symposium, pp. 319–325. IEEE (2014) Culbertson, H., Lopez Delgado, J.J., Kuchenbecker, K.J.: One hundred data-driven haptic texture models and open-source methods for rendering on 3D objects. In: IEEE Haptics Symposium, pp. 319–325. IEEE (2014)
24.
go back to reference Bensmaïa, S., Hollins, M.: Pacinian representations of fine surface texture. Percept. Psychophysics 67(5), 842–854 (2005)CrossRef Bensmaïa, S., Hollins, M.: Pacinian representations of fine surface texture. Percept. Psychophysics 67(5), 842–854 (2005)CrossRef
25.
go back to reference Kasilingam, G., Pasupuleti, J.: Coordination of PSS and PID controller for power system stability enhancement-overview. Indian J. Sci. Technol. 8(2), 142–151 (2015)CrossRef Kasilingam, G., Pasupuleti, J.: Coordination of PSS and PID controller for power system stability enhancement-overview. Indian J. Sci. Technol. 8(2), 142–151 (2015)CrossRef
26.
go back to reference Yoon, M.-H., Shin, C.-H.: Design of online auto-tuning pid controller for power plant process control. In: Proceedings of SICE Annual Conference, pp. 1221–1224. IEEE (1997) Yoon, M.-H., Shin, C.-H.: Design of online auto-tuning pid controller for power plant process control. In: Proceedings of SICE Annual Conference, pp. 1221–1224. IEEE (1997)
Metadata
Title
Improved Control Methods for Vibrotactile Rendering
Authors
Ha-Van Quang
Matthias Harders
Copyright Year
2016
DOI
https://doi.org/10.1007/978-3-319-42321-0_20