University of Twente Student Theses


The implementation of collision avoiding haptic feedback in the pedal-based control of a robotic platform

Meijer, S.D. (2018) The implementation of collision avoiding haptic feedback in the pedal-based control of a robotic platform.

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Abstract:i-Botics aims to improve the knowledge and technology concerning telerobotics and exoskeletons. The overarching project of this thesis is about telerobotics, which is a combination of telepresence and teleoperation. This thesis focusses on the improvement of the teleoperation. Teleoperation is about the control of a robot over long distances. This thesis is about the implementation of haptic feedback in the pedal based control control of a robot. The haptic feedback is supposed to indicate the location of obstacles in the path of motion, reducing the required mental effort to operate the robot. The main goal is divided in three sub goals. 1. A research on different haptic feedback implementations; 2. The design and implementation of a haptic feedback capable interface for the pedals; 3. The implementation of a connection between the pedals’ interface and the robot. In the analysis an initial plan for the design and implementation phase is set up. First, three kinds of haptic feedback are researched and compared based on their implementation in the system in question. Second, an overview of the existing hardware is made. Third, a controller with a variable spring constant for the pedals is designed. And last, the software architecture and functionality for the whole system is designed. In the design and implementation chapter, the final implementation is described. The chapter is divided in three sections: electrical, digital and mechanical. Any alterations or additions with respect to the analysis are mention here. After the final implementation, the system is tested and evaluated. The testing is divided into two parts. The first part tests the pedals’ sensors and the controller, and the second part tests the haptic feedback implementation. All implemented parts are tested individually. The testing showed that the controller is usable, based on the input from the sensors. The controller is also capable of maintaining a relatively stable state while altering the spring constant. The controller does show unexpected behaviour caused by the delay in the controller design. The pedals can operate a virtual robot based on their relative position. The haptic feedback implementation is also tested in a virtual environment and works as expected. The tests have shown that all the technical requirements of the assignment have been met. Whether the implementation of haptic feedback decreases the required workload cannot be said because no user tests have been conducted.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:33 physics, 50 technical science in general, 52 mechanical engineering, 53 electrotechnology, 54 computer science
Programme:Creative Technology BSc (50447)
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