University of Twente Student Theses


Haptic Rendering/Control for Underactuated QB SoftHand using Haption HGlove

Nadgere, Nimish B. (2020) Haptic Rendering/Control for Underactuated QB SoftHand using Haption HGlove.

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Abstract:Haptic feedback plays a major role in improving performance and providing immersive experience in telemanipulation tasks. Rendering haptic feedback in a system having large actuation and sensing asymmetries is a non-trivial problem. In this work, the synergy-based approach for control of the soft, adaptive robotic hand called QB SoftHand using a haptic exoskeleton called Haption HGlove is implemented. Shortcomings in the control method for applying kinesthetic force feedback in this synergy-based tele-manipulation system are identified and an alternative novel control method for generating force feedback is proposed. The feedback forces applied on the fingertips of the operator are experimentally evaluated by observing their magnitudes and directions. The effectiveness of the proposed telemanipulation setup was verified using a relevant benchmarking test. The capability of the setup to distinguish between stiff and compliant objects could not be tested due to shortcomings in the implementation for estimating interaction forces. A study focused on improving the interaction force estimation capability of the system can better evaluate the proposed tele-manipulation in the future.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:52 mechanical engineering, 53 electrotechnology
Programme:Systems and Control MSc (60359)
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