Fundamental Solutions for High-Fidelity Human Haptic Interaction

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This research aims at developing innovative solutions to the fundamental challenges in providing reliable touch-immersive haptic interaction with computer-generated virtual environments (VE). Haptics is a mechanical simulation technology that enables kinesthetic interaction between a user and a VE through an actuated hand-held mechanism, known as haptic interface. Emerging applications of such technology is in robotic rehabilitation and robotic-based medical training simulators.******Haptic systems, interconnection of the interface and VE, are designed with the promise of bringing a true sense of manipulation to the users. The existing challenges stem from limitations in their actuation and control systems. Haptic interfaces are primarily actuated in direct drive and cannot output human-level forces. These actuators are often required to provide maximum torque at low speeds far from their nominal operating region, which affects their performance and reduces their life time. Moreover, the latency associated with the digital implementation of VE and the active energy that is injected by the user and VE can severely compromise the interaction quality and stability.*******We will seek a holistic approach both at the component and system levels through the development of core technologies that would include control algorithms and hardware electronics. We will revolutionize the state-of-the-art haptic control technology by taking advantage of the stabilizing role of human users, and digital and analog control strategies for optimum trade-offs between stability and performance. This will lead to the design of an analog haptic servomotor for the next generation of high fidelity interfaces. Harnessing the recent advances in power electronics, we will develop a unique actuator that can maintain high torques at virtually zero speed. The proposed program, with a focus on multiuser collaborative haptics, will have a significant impact on the quality of interfaces and haptic experience, paving the way for the development of new applications and widespread adoption by healthcare, entertainment, and other industries. As haptic technology rapidly integrates with virtual reality technology, the outcome of the proposed program will place Canada in the forefront of this technological wave, and train the highly qualified personnel necessary to realize this potential.******Four PhD, five Master's and two summer undergraduate students will receive training in mechatronics and biomedical engineering.***