Advertisement

Hands-On Learning with a Series Elastic Educational Robot

  • Ata Otaran
  • Ozan Tokatli
  • Volkan PatogluEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9775)

Abstract

For gaining proficiency in physical human-robot interaction (pHRI), it is crucial for engineering students to be provided with the opportunity to physically interact with and gain hands-on experience on design and control of force-feedback robotic devices. We present a single degree of freedom educational robot that features series elastic actuation and relies on closed loop force control to achieve the desired level of safety and transparency during physical interactions. The proposed device complements the existing impedance-type Haptic Paddle designs by demonstrating the challenges involved in the synergistic design and control of admittance-type devices. We present integration of this device into pHRI education, by providing guidelines for the use of the device to allow students to experience the performance trade-offs inherent in force control systems, due to the non-collocation between the force sensor and the actuator. These exercises enable students to modify the mechanical design in addition to the controllers, by assigning different levels of stiffness values to the compliant element, and characterize the effects of these design choices on the closed-loop force control performance of the device. We also report initial evaluations of the efficacy of the device for pHRI studies.

Keywords

Physical human robot interaction Series elastic actuation Educational robots Force control 

References

  1. 1.
    An, C.H., Hollerbach, J.: Dynamic stability issues in force control of manipulators. In: American Control Conference, pp. 821–827 (1987)Google Scholar
  2. 2.
    Bowen, K., O’Malley, M.: Adaptation of haptic interfaces for a labview-based system dynamics course. In: Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 147–152 (2006)Google Scholar
  3. 3.
    Dogmus, Z., Erdem, E., Patoglu, V.: ReAct!: an interactive educational tool for AI planning for robotics. IEEE Trans. Educ. 58(1), 15–24 (2014)CrossRefGoogle Scholar
  4. 4.
    Eppinger, S., Seering, W.: Understanding bandwidth limitations in robot force control. In: IEEE International Conference on Robotics and Automation, vol. 4, pp. 904–909 (1987)Google Scholar
  5. 5.
    Ferri, B.H., Ahmed, S., Michaels, J.E., Dean, E., Garyet, C., Shearman, S.: Signal processing experiments with the LEGO MINDSTORMS NXT kit for use in signals and systems courses. In: American Control Conference (2009)Google Scholar
  6. 6.
    Gassert, R., Metzger, J., Leuenberger, K., Popp, W., Tucker, M., Vigaru, B., Zimmermann, R., Lambercy, O.: Physical student-robot interaction with the ETHZ haptic paddle. IEEE Trans. Educ. 56(1), 9–17 (2013)CrossRefGoogle Scholar
  7. 7.
    Gillespie, R., Hoffman, M., Freudenberg, J.: Haptic interface for hands-on instruction in system dynamics and embedded control. In: Haptic Symposium, pp. 410–415 (2003)Google Scholar
  8. 8.
    Gorlewicz, J.L.: The efficacy of surface haptics and force feedback in education. Ph.D. thesis, Vanderbilt University (2013)Google Scholar
  9. 9.
    Hongzhe, Z., Shusheng, B.: Accuracy characteristics of the generalized cross-spring pivot. Mech. Mach. Theory 45, 1434–1448 (2010)CrossRefzbMATHGoogle Scholar
  10. 10.
    Hongzhe, Z., Shusheng, B.: Stiffness and stress characteristics of the generalized cross-spring pivot. Mech. Mach. Theory 45, 378–391 (2010)CrossRefzbMATHGoogle Scholar
  11. 11.
    Morimoto, T., Blikstein, P., Okamura, A.: Hapkit: an open-hardware haptic device for online education. In: IEEE Haptics Symposium, pp. 1–1 (2014)Google Scholar
  12. 12.
    Okamura, A.M., Richard, C., Cutkosky, M.R.: Feeling is believing: using a force-feedback joystick to teach dynamic systems. J. Eng. Educ. 91(3), 345–349 (2002)CrossRefGoogle Scholar
  13. 13.
    Pratt, G., Williamson, M.: Series elastic actuators. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 399–406 (1995)Google Scholar
  14. 14.
    Provancher, W.: Eduhaptics.org (2012). http://eduhaptics.org
  15. 15.
    Rose, C., French, J., O’Malley, M.: Design and characterization of a haptic paddle for dynamics education. In: IEEE Haptics Symposium, pp. 265–270 (2014)Google Scholar
  16. 16.
    Sensinger, J.W., Weir, R.F.F.: Unconstrained impedance control using a compact series elastic actuator. In: IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications (2006)Google Scholar
  17. 17.
    Tagliamonte, N.L., Accoto, D.: Passivity constraints for the impedance control of series elastic actuators. J. Syst. Control Eng. 228(3), 138–153 (2014)Google Scholar
  18. 18.
    Wittrick, W.H.: The properties of crossed flexural pivots and the influence of the point at which the strip cross. Aeronaut. Q. 11, 272–292 (1951)Google Scholar
  19. 19.
    Wyeth, G.: Demonstrating the safety and performance of a velocity sourced series elastic actuator. In: IEEE International Conference on Robotics and Automation, pp. 3642–3647 (2008)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Sabanci UniversityIstanbulTurkey

Personalised recommendations