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Browse Journals & Magazines > Instrumentation and Measureme ...> Volume:60 Issue:11 Help

Haptic Interaction for Mobile Assistive Robots

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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 )

Date of Publication: Nov. 2011

Page(s):
3501 - 3509
ISSN :
0018-9456
INSPEC Accession Number:
12287974
Digital Object Identifier :
10.1109/TIM.2011.2161141
Product Type:
Journals & Magazines
Date of Publication :
04 August 2011
Date of Current Version :
10 October 2011
Issue Date :
Nov. 2011
Sponsored by :
IEEE Instrumentation and Measurement Society

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