Implementation of Arbitrary Path Constraints Using Dissipative Passive Haptic Displays

The problem of applying an energetically passive dissipative haptic interface to a path-following application is addressed. This consists of controlling a man-machine system where the human operator provides all motive power, and the machine may dissipate or redirect this power. The goal of a controller is to constrain the operator-induced motion to a single arbitrary degree-of-freedom. This research will develop a generalized methodology for developing a path-following controller for any arbitrary dissipative haptic interface. A range of performance measurements will be developed to evaluate controllers. Controllers will be implemented on an existing two degree-of-freedom dissipative interface, and simulations will be performed for an interface with a higher number of degrees-of-freedom in order to validate the control methodology. Testing with human subjects will be performed in order to get real-world performance information; since the system inherently contains an operator, testing without human input is limited. The subject testing will also be used to generate statistically significant links between quantitative physical measured parameters and qualitative opinions of the users. This will assist designers by indicating what physical design parameters are critical to satisfactory operator opinion.