Haptic Robots

Higher education teachers: Mihelj Matjaž
Collaborators: Podobnik Janez

Subject description

Prerequisits:

• Enrollment in the second year.

Content (Syllabus outline):

Introduction (definition, characteristics and applications for haptic robots), human factor (haptic perceptions; motor system; cognitive capabilities), haptic robots (kinesthetic and tactile interfaces, kinematics, dynamics); collision detection (in real and virtual environments, haptic virtual environment modelling), haptic rendering (free space, stiff objects, friction, dynamics of moving objects), control and stability analysis for haptic interaction (impedance and admittance control, two-port model for haptic interaction, transparency and Z-width, virtual coupling, system passivity), teleoperation, micro/nanomanipulation, rehabilitation and medical robotics.

Objectives and competences:

Course deals with the use of robots in close physical contact with a human (direct physical interaction) for the purpose of exchanging kinesthetic and tactile stimuli between the human and the robot. It analyses physical background, technological challenges and limitations related to the design of haptic robots. The emphasis is on concepts required for understanding human responses to artificially generated haptic stimuli (kinesthetic and tactile). The concept of haptic interaction is extended to teleoperation systems, which are further examined from the point of view of tele-micro and nanomanipulation. Students obtain practical knowledge in the laboratory while executing interdisciplinary research projects.

Intended learning outcomes:

• Knowledge and understanding of haptic robots; design of haptic robot mechanisms; control and stability of robots in contact with humans.
• Students will be able to plan tasks and design systems that require physical contact between the robot and the human, including teleoperation systems.

Learning and teaching methods:

Students have a textbook. Lectures focus on theoretical basis of haptic robots. Because of the specificity of the course, part of the lectures is performed in the form of multimedia presentations. Latest developments in the field of haptic robot are presented in the "video lectures." Practical exercises are performed in the laboratory, which is equipped with a number of modern haptic robots. Students work in interdisciplinary project teams, where each student deals with the specific problem of human-robot interaction.

Study materials

1. M. Mihelj: Haptični roboti, Založba FE in FRI, 2007.
2. M. Mihelj, J. Podobnik, Haptics for Virtual Reality and Teleoperation, Springer, 2012.
3. G. Burdea, P. Coiffet: Virtual Reality Technology, Wiley, 2003.
4. B. Siciliano, L. Villani: Robot Force Control, Kluwer Academic Publishers, 1999.