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Deploying robots to explore venues that are inaccessible to humans, or simply inhospitable, has been a longstanding ambition of scientists, engineers, and explorers across numerous fields. The deep sea exemplifies an environment that is largely uncharted and denies human presence. Central to exploration is the capacity to deliver dexterous robotic manipulation to this unstructured environment. Unmanned...
Recent technological advances in hardware design of the robotic platforms enabled the implementation of various control modalities for improved interactions with humans and unstructured environments. An important application area for the integration of robots with such advanced interaction capabilities is human–robot collaboration. This aspect represents high socio-economic impacts and maintains the...
This paper extends the previously proposed Explicit Force Controller based on Time Domain Passivity Approach. When using the classical passivity observer, we encounter an energy accumulation problem: if the system stays a long time in stable contact, energy is dissipated and the passivity observer builds up a large value. This causes the passivity controller to be triggered late after the interaction...
In this paper, we demonstrate that it is feasible to conduct reliable multi-axis force control motor neuroimaging experiments in humans using a novel five degree-of-freedom Haptic fMRI interface (HFI-5). We demonstrate that HFI-5 supports accurate force and torque control for all its axes. In addition, it minimizes the force-to-torque coupling induced by its closed chain kinematic structure. HFI-5...
Haptic interfaces compatible with functional magnetic resonance imaging (Haptic fMRI) promise to enable rich motor neuroscience experiments that study how humans perform complex manipulation tasks. Here, we present a large-scale study (176 scans runs, 33 scan sessions) that characterizes the reliability and performance of one such electromagnetically actuated device, Haptic fMRI Interface 3 (HFI-3)...
We present a novel electromagnetically actuated Haptic fMRI Interface with five degrees-of-freedom (DOF), HFI-5. The interface uses two three DOF devices connected with a gimbal in a closed kinematic chain to achieve three-axis translation and two-axis rotation. To highlight the device's design, we develop a taxonomy of similar devices and demonstrate why HFI-5's design excels. We use a cross-correlation...
Direct force control of robots is challenging, particularly since the interaction with the environment can render the robot unstable. This paper presents the results of novel approaches for passivity-based stability for a particular direct force control method, namely explicit force control. A step-by-step procedure to passivate and stabilise the control loop is presented and it explains how Time...
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