This thesis investigates the potential benefits and challenges of using compliant mechanisms in the design of haptic interfaces. The benefits and challenges are presented with an emphasis on their inherent springback behavior and an active compensation approach. Design criteria for compliant mechanism joint candidates are reviewed and several joints are surveyed. Quantitative calculations of axial stiffness and maximum stress for five candidates are presented. Generalized analytical models of springback force and compensation torque are created to simulate the implementation of each joint candidate in a two degree-of-freedom planar pantograph. We use these models in the development and discussion of an analytical approach to predict the motor torques needed to actively compensate for the effects of springback. This approach relies on virtual work analyses of the haptic pantograph to determine the springback forces, compensation torques, haptic workspace, and available haptic force after compensation. A key to estimating the available haptic force is knowing that the force capability is different depending on the local springback force. If a component of the desired haptic force aligns with the springback force, then the two can work together, thus increasing the maximum magnitude of available haptic force beyond the nominal amount. Analytical and experimental results are presented. A detailed method of implementation is given along with a hardware demonstration of active compensation.

This thesis discusses three projects that revolve around the central concept of the control of artificial hands. The first part of the thesis discusses the design of a museum exhibit for the South Florida Science Center that allows the public to control an i-limb Revolution prosthetic hand using electromyograph (EMG) sensors. A custom armature was designed to house the EMG sensors that are used to control the prosthesis. The top arm of the armature utilized a double rocker design for a greater range of motion which allows the display to accommodate arm sizes ranging from small children to large adults. This display became open to the public in March of 2019. The second part of the thesis describes a new concept for a simultaneous multi-object grasp using the Shadow hand robotic hand. This grasp is tested in an experiment that involves grasp and transportation tasks. This experiment also aims to analyze the benefit of soft robotic haptic feedback armband during the grasp and transportation tasks when a simulated break threshold is imposed on the objects. The usefulness of the haptic feedback was further tested with a guess the object task where the subjects had to determine which object was in the hand based solely off the armband. The new grasp synergy was deemed a success as all subjects were able to use the control method effectively with very little initial training. It was also found that the haptic feedback greatly aided in the successfully completing the transportation tasks. The human subjects were asked to rate the haptic feedback after each task, the overall rating for the helpfulness of the haptic feedback was rated as 4.6 out of 5. The final part of the thesis discusses an approach at gaining additional control signals for a dexterous artificial hand using a brain computer interface. This project seeks to investigate three neuromarkers for control which are: mu, xi and alpha. During analysis, the mu rhythm was not seen in our subject but alpha and xi were. Using deep learning approaches at classification, we were able to classify alpha and xi with at least a 90 percent accuracy. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2019. / FAU Electronic Theses and Dissertations Collection

This thesis investigates the potential benefits and challenges of using compliant mechanisms in the design of haptic interfaces. The benefits and challenges are presented with an emphasis on their inherent springback behavior and an active compensation approach. Design criteria for compliant mechanism joint candidates are reviewed and several joints are surveyed. Quantitative calculations of axial stiffness and maximum stress for five candidates are presented. Generalized analytical models of springback force and compensation torque are created to simulate the implementation of each joint candidate in a two degree-of-freedom planar pantograph. We use these models in the development and discussion of an analytical approach to predict the motor torques needed to actively compensate for the effects of springback.This approach relies on virtual work analyses of the haptic pantograph to determine the springback forces, compensation torques, haptic workspace, and available haptic force after compensation. A key to estimating the available haptic force is knowing that the force capability is different depending on the local springback force. If a component of the desired haptic force aligns with the springback force, then the two can work together, thus increasing the maximum magnitude of available haptic force beyond the nominal amount. Analytical and experimental results are presented. A detailed method of implementation is given along with a hardware demonstration of active compensation.

Ce projet s’inscrit dans l’effort développé par l’Agence Spatiale Européenne (ESA)pour robotiser les activités extravéhiculaires à bord de la Station Spatiale Internationale et lors des futures missions d’exploration planétaire. Un aspect important de ces projets concerne le retour de force et la capacité, pour la personne qui commande les mouvements du robot, à ressentir les efforts qui lui sont appliqués. Le but est d’améliorer la qualité et l’immersion de la téléopération. L’objectif de cette thèse est la conception d’une interface haptique de type exosquelette pour le bras, pour ces missions de téléopération à retour de force. Ce système doit permettre une commande intuitive du robot téléopéré tout en reproduisant le plus fidèlement possible les efforts. Les chapitres 2 et 3 présentent les études réalisées sur un banc de test à 1 degré de liberté, destinées à comprendre le contrôle haptique ainsi qu’à évaluer différentes technologies d’actionnements et de capteurs. Les principales méthodes de contrôle sont décrites théoriquement et comparées en pratique sur le banc de test. Les chapitres 4 et 5 décrivent le développement de l’exosquelette SAM destiné aux futures applications de téléopération spatiale. La conception cinématique, le choix des actionneurs et des capteurs sont décrits. Différentes méthodes de contrôle sont également comparées avec des expériences de réalité virtuelle (sans robot esclave) et de téléopération. Pour finir, le chapitre 6 présente le projet EXOSTATION, un démonstrateur de téléopération haptique spatiale, dans lequel SAM est utilisé comme interface maître.

La chirurgie sans cicatrices, visant à réaliser des opérations chirurgicales sans cicatrices visibles, est l'avant-garde dans le domaine de la chirurgie mini-invasive. L'absence d'instruments adéquats est l'un des freins à son utilisation en routine clinique. Dans ce contexte, nous introduisons un nouveau robot chirurgical téléopéré, composé d'un endoscope et de deux instruments flexibles, avec 10 DDL motorisés. Cette thèse explore les différentes façons de contrôler le système. La cinématique du robot est analysée et différentes stratégies de contrôle maître/esclave, allant du contrôle articulaire au Cartésien, sont proposées. Ces stratégies ont été testés sur un simulateur virtuel ainsi que sur le système réel en laboratoire et en ex-vivo. Les résultats montrent qu’un seul utilisateur est capable de contrôler le robot et d’effectuer des tâches complexes en utilisant deux interfaces haptiques. / No-scar surgery, which aims at performing surgical operations without visible scars, is the vanguard in the field of Minimally Invasive Surgery (MIS). The lack of adequate instrumentation is one of the issues to its clinical routine use. In this context, we introduce a novel teleoperated surgical robot, consisting of an endoscope and two flexible instruments, with 10 motorized DOFs. This thesis investigates the possibilities to control the system. The robot kinematics is analyzed, and differentmaster/slave control strategies, ranging from joint to Cartesian control, are proposed. These strategies have been tested on a specifically developed virtual simulator and on the real system in laboratory and ex-vivo experiments. The results show that a single user is capable to control the robotic system and to perform complex tasks by means of two haptic interfaces.

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Made available in DSpace on 2016-04-29T14:23:33Z (GMT). No. of bitstreams: 1 Nelson Baumgratz Ribeiro.pdf: 6073619 bytes, checksum: 2df093db1d33c78d97967095f32b28c0 (MD5) Previous issue date: 2014-10-27 / Within the AV industry, the critical challenge is the creation of skilled and qualified labor, which presumes, in addition to the theoretical learning, contact and interaction with technology and with the devices and equipment used in AV systems - complementing 'knowing' with 'doing'. Perfection, agility and safe operation of AV systems will be a result of long hours of hands-on practice exercises, of trial and error experience and of tutored learning. Due to the job dynamics in this industry, the adoption of the online learning modality seems imperative as a further enabling feature of this technological training. Based greatly on the author's experience and with the support of authors like Vygotsky (1998), Lévy (1993, 1999), Ausubel (1963, 1968, 1978, 1980, 1982), Gagné (1980), Goleman (1999, 2012), Mattar (2007, 2008) and Allegretti (2007), amongst others, this paper aims to propose immersive and/or' interactive experience simulation tools to provide effective professional audiovisual (AV) technology online learning. Although not completely replacing the physical experience necessary to such learning, the proposed online learning could effectively shorten the time of study and give the learner sufficient experience to safely master the technical and operational processes when faced with the real-world tasks that will eventually be required of him. It should also provide students with the best possible learning experience, taking into account the effect and interaction of the environment with the professional audiovisual systems and with the student himself. This work, through qualitative research and case study, will present the context of the AV Industry inc1uding its social and professional organization, market segments, products and services, and area of operation and implementation of professional audiovisual systems, as specified in market research sponsored by InfoComm International@ in 2014. It will also set out the characteristics of the subject learner and his/her required skills and abilities, plus demonstrate the teaching and learning object, by means of a Technological Higher Education project developed by the author or a higher education institution in the city of São Paulo. Finally, this paper will list the available technological resources or those still under development, that can be combined for use as effective tools of online Technological Education, designed to empower professionals capable of working in the AV industry / No âmbito da Indústria Audiovisual Profissional, o ponto nevrálgico é a formação de mão de obra especializada e altamente qualificada. Esta formação pressupõe, além do aprendizado teórico, o contato e o convívio estreito com a própria tecnologia audiovisual (AV), com os aparelhos e equipamentos utilizados nos sistemas AV, complementando assim o "saber" com o "fazer". A perfeição, agilidade e segurança da operação dos sistemas AV advirão de longas horas de prática hands-on, de exercícios de tentativa e erro, e de aprendizado tutelado; e a dinâmica do próprio mercado de trabalho desta indústria torna imperativa a adoção da modalidade de ensino online como mais um recurso viabilizador desta formação tecnológica. A partir da experiência do seu autor e amparado em autores como Vygotsky (1998), Lévy (1993, 1999), Ausubel (1963, 1968, 1978, 1980, 1982), Gagné (1980), Goleman (1999, 2012), Mattar (2007, 2008) e Allegretti (2007), entre outros, este trabalho tem como objetivo propor ferramentas eficazes de simulação e de experiência interativa e/ou imersiva que proporcionem um efetivo aprendizado online da tecnologia AV. Embora não substituindo completamente a experiência física necessária a tal aprendizado, essas ferramentas propostas deverão ser capazes de abreviar eficientemente o tempo de estudo e de dar ao aprendiz da tecnologia uma vivência suficientemente satisfatória para permitir-lhe a segurança e o domínio dos processos técnicos e operacionais ao se deparar com a experiência real que lhe será imposta por fim. Deverão também proporcionar ao estudante a melhor experiência de aprendizagem, levando em conta o efeito e a interação do ambiente com os sistemas audiovisuais profissionais e com o próprio estudante. Por meio de uma pesquisa aplicada de abordagem qualitativa, este trabalho apresenta, a partir do estudo de mercado promovido pela InfoComm International@ em 2014, o contexto da Indústria AV e sua organização social e profissional, com seus segmentos de mercado, seus produtos e serviços, sua área de atuação e a aplicação dos sistemas audiovisuais profissionais. Enunciam-se também as características do sujeito da aprendizagem e as competências e habilidades dele requeridas, e o respectivo objeto de ensino e aprendizagem, por meio de uma proposta de Projeto de Curso Superior Tecnológico desenvolvido pelo autor para uma instituição de ensino superior da cidade de São Paulo. Finalmente, serão elencados os recursos tecnológicos disponíveis ou ainda em desenvolvimento, que podem ser conjugados para que se utilizem como ferramentas eficazes de Ensino Tecnológico online, destinadas a capacitar profissionais aptos a trabalhar na Indústria AV

Ce projet s’inscrit dans l’effort développé par l’Agence Spatiale Européenne (ESA)pour robotiser les activités extravéhiculaires à bord de la Station Spatiale Internationale et lors des futures missions d’exploration planétaire. Un aspect important de ces projets concerne le retour de force et la capacité, pour la personne qui commande les mouvements du robot, à ressentir les efforts qui lui sont appliqués. Le but est d’améliorer la qualité et l’immersion de la téléopération.<p><p>L’objectif de cette thèse est la conception d’une interface haptique de type exosquelette pour le bras, pour ces missions de téléopération à retour de force. Ce système doit permettre une commande intuitive du robot téléopéré tout en reproduisant<p>le plus fidèlement possible les efforts. <p><p>Les chapitres 2 et 3 présentent les études réalisées sur un banc de test à 1 degré de liberté, destinées à comprendre le contrôle haptique ainsi qu’à évaluer différentes technologies d’actionnements et de capteurs. Les principales méthodes de contrôle sont décrites théoriquement et comparées en pratique sur le banc de test. Les<p>chapitres 4 et 5 décrivent le développement de l’exosquelette SAM destiné aux futures applications de téléopération spatiale. La conception cinématique, le choix des actionneurs et des capteurs sont décrits. Différentes méthodes de contrôle sont également comparées avec des expériences de réalité virtuelle (sans robot esclave) et de téléopération. Pour finir, le chapitre 6 présente le projet EXOSTATION, un démonstrateur de téléopération haptique spatiale, dans lequel SAM est utilisé comme interface maître. / Doctorat en Sciences de l'ingénieur / info:eu-repo/semantics/nonPublished

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Le interfacce aptiche, ovvero le tecnologie che trasmettono delle sensazioni tattili digitalizzate, si stanno diffondendo in vari contesti sociali come telerobotica, comunicazione mobile, arte, videogiochi e cinema. Queste tecnologie stanno permettendo agli ingegneri di realizzare qualcosa mai fatto prima: la digitalizzazione del tatto (che ora può quindi essere registrato e mediatizzato). L’obbiettivo di questa tesi è di decostruire il tatto digitalizzato come un artefatto tecnologico socialmente costruito, il quale sta prendendo forma in un sistema di pratiche interrelate performate da attori in campi disparati della conoscenza. Questi attori si muovono all’interno e attorno ad una comunità di ingegneri apticisti. Adottando un approccio ispirato alla grounded theory, sono stati raccolti dati qualitativi attraverso interviste presso un campo etnografico multi-situato composto da laboratori europei e conferenze internazionali, in cui la conoscenza riguardo il tatto è collettivamente creata e condivisa. Due framework teorico-metodologici sono stati presi in considerazione: la tradizione dei Science and Technology Studies (STS) è stata scelta come principale guida metodologica; in seguito, l’intreccio tra pratiche sociali e tecnologie è stato approfondito attraverso una prospettiva practice-based tipica della cosiddetta ‘practice theory’. Al fine di cogliere il processo in corso di costruzione sociale e flessibilità che caratterizzano il tatto digitalizzato, lo studio si è concentrato sull'assenza di standardizzazione che caratterizza gli aspetti sia hardware che software di questa tecnologia emergente. Inoltre, è stata prestata attenzione alla distinzione controversa e scivolosa tra feedback tattile simbolico e realistico usata nel gergo degli apticisti. Infine, sono stati analizzati i diversi significati, o potenzialità d'uso, che gli intervistati attribuiscono a questa tecnologia. Questi significati si collegano a specifici immaginari sociotecnici geograficamente situati, ad ampi discorsi sociali riguardo l’innovazione tecnologica, e a diverse visioni riguardo le pratiche che possono beneficiare dell’implementazione di queste interfacce. / Devices that provide tactile feedback, called haptic interfaces, are spreading in various contexts such as tele-robotics, prosthetics, videogames, mobile communication, and arts. These technologies are allowing engineers to accomplish something never done before: the digitization of touch (which can now be stored and mediatized). This dissertation aims to deconstruct the digitized touch as a socially constructed technological product, emerging from a system of interrelated practices enacted by actors performing in disparate fields which revolve around the community of haptics engineers. Using a grounded-theory inspired approach, qualitative data were collected through interviews in a multi-sited ethnographic field consisting in European laboratories and international conferences, where knowledge about touch is collectively created and shared. Two theoretical-methodological frameworks have been taken into consideration: the tradition of Science and Technology Studies (STS) has been chosen as the main methodological guide; moreover, the interlacements between social practices and technology have been deepened through the adoption of a practice-based perspective proposed by different approaches in social sciences gathered under the umbrella term ‘practice theory’. In order to grasp the ongoing process of social construction and flexibility that characterize digitized touch, the study focused on the absence of standardization involving both hardware and software aspects of this emerging technology. Furthermore, attention has been paid to the controversial and slippery distinction between ‘symbolic’ and ‘realistic’ tactile feedback which is used in engineers’ jargon. Finally, the different meanings or potentialities of use, which respondents attributed to this technology, have been analysed. These meanings are connected to geographically located socio-technical imaginaries, to broad social discourses about technological innovation, and to different visions regarding the practices that can benefit from the implementation of these interfaces.