Improving dynamic range by using rich sensing and gain-scheduled control for improved haptic feedback
For the past several years Haply Robotics has been developing high-performance, inexpensive, haptic devices that can be used in a variety of applications, such as medical simulation for the purposes of training. Haply is currently interested in the use of commercial off-the-shelf manipulandums, such as the Valve Index (Valve Index, 2022), that measures the user’s applied grip force to characterize the user’s grip as gentle or forceful. The research problem to be addressed is how to effectively use the applied force information from the manipulandum, which indicates the user’s expectation of the haptic device, for control. The overall objective is to improve the user experience by realizing better stability and dynamic behaviour, colloquially referred to as the “feel” of the robot. To reach the objective and solve the research problem, a rich sensor suite and different gain-scheduled control architectures will be explored.