Embed Size (px)
Citation preview
ECE 495 – Integrated System Design I
Overview of the Intelligent Systems (IS) Focus at Clemson
Tim Burg
Department of Electrical and Computer Engineering
Clemson University
ECE 495 – Integrated System Design I
Defining an Intelligent System
SystemElectricalBiological ChemicalMechanical Robotic
Output
ControllerComputingControl Algorithm
LinearNonlinear
SensingVisionEstimation
ECE 495 – Integrated System Design I
Core Expertise in Intelligent Systems
Tim BurgHapticsBiofabrication
Richard GroffMagnetic Fiber Control
Ian WalkerSoft Robots
Stan BirchfieldVision Processing
Ian WalkerSoft Robots
Darren DawsonNonlinear Control
ECE 495 – Integrated System Design I
Interesting Haptic Result
• Dynamic touch - use of muscle sensitivity to perceive mechanical properties of objects that are wielded in space.
• Can lift a coffee cup by its handle to estimate the volume
– Attunement - user converges on perceptual variables that are correlated with the perceived property
– Calibration - learning of the correct scaling factor for specifying variables through feedback
ECE 495 – Integrated System Design I
Sense Mechanical Parameters When Wielding
Subjects can estimate length
Human haptic system is sensitive to time-varying forces and torques, it seems to use them to register mechanical quantities that remain invariant.
ECE 495 – Integrated System Design I
Tricking Perception of Mechanical Parameters
Masses attached at various positions on each rod so as to break the natural covariation between moments, show that length perception is related to Inertia and Static Moment
Subjects incorrectly estimate length
ECE 495 – Integrated System Design I
Haptic Device to Reproduce Experiments
Quansar 5DOF Haptic Wand
Can the device reproduce the dynamics of the wielded rod so user can estimate length?
Can the device be used to attune the user to specific mechanical variables?
Can the user be trained (calibrated) to estimate length from the perceived variables?
ECE 495 – Integrated System Design I
Experimental Design of Haptic Experiments
Haptic Simulation
ECE 495 – Integrated System Design I
Results
• Results from the study suggest that subjects can be trained by the process of attunement and calibration to estimate physical properties (like length) based on perceived haptic information.
• The primary implications of these findings pertain to the design of virtual haptic surgical simulators where kinesthetic parameters may improve haptic perception and skills training and the transfer of learned skills to real environments.
• Conversely, if haptic feedback is not addressed in the simulator design then inappropriate, hidden negative training may occur that may be detrimental to skills transfer.
ECE 495 – Integrated System Design I
A More Theoretical Framework
Modeling – Haptics as a Leader/Follower System
Control Design to Make Leader “Feel” the Environment of the Follower
Observer to Estimate Input Force
ECE 495 – Integrated System Design I
Where Can We Collaborate?
SystemElectricalBiological ChemicalMechanical Robotic
Output
ControllerComputingControl Algorithm
LinearNonlinear
SensingVisionEstimation
• Tim Burg ([email protected])
• Department of Electrical and Computer Engineering
• Clemson University
