By Topic

Haptic Interaction for Mobile Assistive Robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Huanran Wang ; Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, ON, Canada ; Liu, X.P.

This paper presents an assistive robotic system, for which the user can interact with a mobile robot using a haptic interface, for senior and disabled people. The system consists of a nonholonomic PeopleBot mobile robot and a Phantom Omni haptic interface. Several technical problems related to the system are addressed and solved. Specifically, the backstepping technique is used, and a new tracking algorithm is developed for the robot to follow the user on a 2-D space. An adaptive fuzzy logic-based windowing method is proposed to solve the velocity estimation problem in the controller. A simple haptic rendering algorithm is designed to generate the haptic feedback based on the position error. Experiments show that the user can guide the movement of the robot quite easily and smoothly using the haptic interface.

Published in:

Instrumentation and Measurement, IEEE Transactions on  (Volume:60 ,  Issue: 11 )