During a clinical breast exam, a doctor palpates the breast and uses factors such as estimated size and stiffness of subcutaneous inclusions to determine whether they may be malignant tumors. The Tactile Imaging System (TIS) under development at the Control, Sensing, Networking and Perception Laboratory (CSNAP) is an effort to provide accurate and consistent characterization of inclusions. The sensing principle of the TIS is based on Total Internal Reflection (TIR) of light in a Polydimethylsiloxane (PDMS) optical waveguide positioned in front of a digital camera. When the PDMS is pressed against an object of greater stiffness it deforms, causing some light to escape the waveguide and be sensed by the camera. An algorithm maps the light pattern caused by the deformation and the force applied during the image acquisition to estimate the size, depth and stiffness of the inclusion based on a kernel model. The Third Generation Experimental TIS (TIS 3E) is an effort to improve the performance, repeatability, and usability of the system. Performance is increased through a new graphical user interface (GUI) allowing fine tuning of camera parameters, and interchangeable sensing probes for varying PDMS waveguides. Repeatability is improved with a digitally controlled lighting system, hardware triggered force sensing, and an online PDMS lighting and condition monitoring system, lowering the overall measurement error of the system. Usability is improved by a new chassis, reducing the device size and weight by 50 percent. Accuracy of the TIS 3E is comparable to the maximum accuracy TIS 1E, and exceeded the minimum accuracy of the TIS 1E. The measurement frequency was also increased from 10Hz to 50Hz. The TIS 3E will provide an accurate, consistent data acquisition platform for future Tactile Imaging Research efforts. / Electrical and Computer Engineering

Human beings have a touch and force estimation mechanism beneath their feet. They use this feeling of touch and force to maintain balance, walk, run and perform various agile motions. This paper presents a new sensor platform beneath the humanoid feet, enabled by a pragmatic model based compliant foot design and sensor configuration that mimics the human tactile sensory system for contact force measurement in humanoid robots. Unlike previous force sensor based approaches, the system is defined as a total and sufficient method of Ground Reaction Force (GRF) and Zero Moment Point (ZMP) measurement for balancing and walking using contact force feedback in mid to full sized humanoids. The conventional systems for the GRF and ZMP measurement are made of heavy metallic parts that tend to be bulky and vulnerable to inertial noises upon high acceleration. In addition to low cost and reliable operation, the proposed system can withstand shock and enable agile motion much like humans do with their footpad. The proposed foot is manufactured using state-of-the-art technique with elastomer padding which not only protects the sensors but also acts as a compliance beneath the foot giving integrity in structural design. This composite layer provides compliance and traction for foot collision while the contact surfaces are sampled for pressure distribution which can be mapped into three axis force and ZMP. A single step training process is required to relate the sensor readings to force measurement. The system’s capability of contact force measurement, subsequent ZMP estimation is experimentally verified with the application of appropriate software. Moreover, a simulation study has been conducted via Finite Element Analysis (FEA) of the footpad structure to analyze the proposed footpad structure. The experimental results demonstrate why this can be a major step toward a biomimetic, affordable yet robust contact force and ZMP measurement method for humanoid robots. This work was supported by the Office of Naval Research, Grant N00014-15-1-2128 as part of development of Project SAFFiR (Shipboard Autonomous Firefighting Robot). / Master of Science / How we interact with the surfaces in contact with us has a crucial role for balancing and walking with agility. The biological touch and force measurement systems in human is currently unmatched, not even mimicked in a significant way in the state-of-the-art humanoid robots’ systems. Human beings use this feeling of touch and force beneath the feet to maintain balance, walk, run and perform various agile motions. This research aims to find a holistic system in humanoid robot’s feet design that can mimic this human characteristics of force estimation beneath the feet and using that estimation for balancing and walking. A practical model based sensor configuration is derived from the rigorous study of human and humanoid robot’s feet contact with the ground. The sensors are tactile in nature, and unlike previous below feet based approaches, the system is defined as a total and sufficient system of Ground Reaction Force (GRF) and Center of Pressure (CoP) measurement. The conventional systems for this purpose are not only highly expensive but also having error in quantification during accelerated movement. The proposed foot is designed following the practical model derived and manufactured using the state-of-the-art mechanism for having a soft cushion between the sensors and the contact surfaces. In addition to low cost and reliable operation, the proposed system can withstand shock and enable agile motion much like humans do with their footpad. The quantification of the forces and pressure from the sensor readings and developed using appropriate software and algorithms. The system’s capability of contact force measurement, subsequent Center of Pressure measurement is experimentally verified with the application of appropriate software. Moreover, a simulation study has been conducted of the footpad structure to analyze the proposed footpad structure. The experimental results demonstrate why this can be a major step toward a biomimetic, affordable yet robust contact force and Center of Pressure measurement method for human-like robots.

Thesis (M. Tech.) -- Central University of Technology, Free State, 2009

The work presented in this dissertation was aimed at understanding biology's application of soft materials to enhance sensing abilities and initiate innovative bio-inspired material-based approaches for flow (fluidic and air) sensors and photo-thermal sensors. A key aim is to help strengthen this niche of functional materials science referred to, here, as bio-inspired materials in sensing roles. The work aspires to traverse the boundaries of the subject in order to provide a strong foundation for future scientific explorations of the subject. The studies presented here, include studies of flow sensing in fish and implementing a bio-mimetic approach to microfabricated flow sensors. The work also includes studies of material based signal filtering in spiders, as well as, bio-inspired photo-thermal transduction mechanisms. The capabilities of the methodology are demonstrated with successful engineering studies.

Haptic systems incorporate many different components, ranging from virtual simulations, physical robotic interfaces (super joysticks), robotic slaves, signal communication, and digital control; two-port networks offer compact and modular organization of such haptic components. By establishing specific stability properties of the individual component networks, their control parameters can be tuned independently of external components or interfacing environment. This allows the development of independent haptic two-port networks for interfacing with a class of haptic components. Furthermore, by using the two-port network with virtual coupling paradigm to analyze linear haptic systems, the complete duality between an admittance controlled device with velocity (position) feedback and virtual coupling can be compared to an impedance controlled device with force feedback and virtual coupling. This research first provides background on linear haptic two-port networks and use of Llewelyn's Stability Criterion to prove their stability when interfaced with passive environments, with specific comments regarding application of these linear techniques to nonlinear systems. Furthermore, man-machine interaction dynamics are addressed, with specific attention given to the human is a passive element assumption and how to include estimated human impedance / admittance dynamic limits into the two--port design. Two--port numerical tuning algorithms and analysis techniques are presented and lay the groundwork for testing of said haptic networks on HuRBiRT (Human Robotic Bilateral Research Tool), a large scale nonlinear hybrid active / passive haptic display. First, two-port networks are numerically tuned using a linearized dynamic model of HuRBiRT. Resulting admittance and impedance limits of the respective networks are compared to add insight on the advantages / disadvantages of the two different implementations of haptic causality for the same device, with specific consideration given to the advantage of adding force feedback to the impedance network, selection of virtual coupling form, effects of varying system parameters (such as physical or EMF damping, filters, etc.), and effects of adding human dynamic limits into the network formulation. Impedance and admittance two-port network implementations are experimentally validated on HuRBiRT, adding further practical insight into network formulation. Resulting experimental networks are directly compared to those numerically formulated through use of HuRBiRT's linearized dynamic models.

Digital Clay is a next generation human-machine communication interface based on a tangible haptic surface. This thesis embraces this revolutionary concept and seeks to give it a physical embodiment that will confirm its feasibility and enable experimentation relating to its utility and possible improvements. Per the approach adopted in work, Digital Clay could be described as a 3D monitor whose pixels can move perpendicularly to the screen to form a morphing surface. Users can view, touch and modify the shape of the working surface formed by these pixels. In reality, the pixels are the tips of micro hydraulic actuators or Hapcel (i.e. haptic cell, since the Digital Clay supports the haptic interface). The user can get a feel of the desired material properties when he/she touches the working surface. The potential applications of Digital Clay cover a wide range from computer aided engineering design to scientific research to medical diagnoses, 3D dynamic mapping and entertainment. One could predict a future in which, by using Digital Clay, not only could the user watch an actor in a movie, but also touch the face of the actor! This research starts from the review of the background of virtual reality. Then the concept and features of the proposed Digital Clay is provided. Research stages and a 5x5 cell array prototype are presented in this thesis on the structural design and control of Digital Clay. The first stage of the research focuses on the design and control of a single cell system of Digital Clay. Control issues of a single cell system constructed using conventional and off-the-shelf components are discussed first in detail followed by experimental results. Then practical designs of micro actuators and sensors are presented. The second stage of the research deals with the cell array system of Digital Clay. Practical structural design and control methods are discussed which are suitable for a 100x 100 (even 1000X 1000) cell array. Conceptual design and detailed implementations are presented. Finally, a 5 x 5 cell array prototype constructed using the discussed design solutions for testing is presented.

A formable surface is part of an effort to create a haptic device that allows for a three dimensional human-computer interface called digital clay. As with real clay, digital clay allows a user to physically manipulate the surface into some form or orientation that is sensed and directly represented in a computer model. Furthermore, digital clay will allow a user to change the computer model by manipulating the inputs that are directly represented in the physical model. The digital clay device being researched involves a computer-interfaced array of vertically displacing actuators that is bound by a formable surface. The surface is composed of an array of unit cells that are constructed of compliant spherical joints and translational joints. As part of this thesis, a series of unit cells were developed and planar surfaces were fabricated utilizing the additive manufacturing process of stereolithography. The process of computing the resultant shape of a manipulated surface was modeled mathematically through energy minimization algorithms that utilized least squares analysis to compute the positions of the unit cells of the surface. Simulation results were computed and analyzed against the movement of a fabricated planar surface. Once the mathematical models were validated against the manufactured surface, a method for attaching the surface to an array of actuators was recommended.

Human-machine interfaces influence both operator effectiveness and machine efficiency. Further immersion of the operator into the machine’s working environment gives the operator a better feel for the status of the machine and its working conditions. With this knowledge, operators can more efficiently control machines. The use of multi-modal HMIs involving haptics, sound, and visual feedback can immerse the operator into the machine’s environment and provide assistive clues about the state of the machine. This thesis develops a realistic excavator model that mimics a mini-excavator’s dynamics and soil interaction during digging tasks. A realistic graphical interface is written that exceeds the quality of current academic simulators. The graphical interface and new HMI are placed together with a model of the excavator’s mechanical and hydraulic dynamics into an operator workstation. Two coordinated control schemes are developed on an haptic display for a mini-excavator and preliminary tests are run to measure increases in operator effectiveness and machine efficiency.

Shape plays an important role in our everyday life to interpret information about the surroundings whether we are aware or not. Together with visual and auditory information, we are able to obtain and process information for different purposes. Output devices such as monitors and speakers convey visual and auditory information while input devices such as touch screen and microphones receive that information for human machine interaction. Such devices have become commonplace but there has yet to be a fitting input/output device utilizing our haptic perception. Digital Clay is a next generation Human Machine Interface (HMI) device for 2.5D shape input/output via an array of hydraulic actuators. This device potentially has wide applications in the areas of engineering, sciences, medicine, military, entertainment etc. The user can perceive the shape of a computer programmed model in a tangible and concrete manner which means an added realism with the addition of the sense of touch. Conversely, the user can also use Digital Clay as an input device to the computer, by shaping and molding desired shapes on the device, no longer limited to drawing models with a mouse on CAD software. Shape display has been achieved with the current 5x5 prototype at the Georgia Institute of Technology but this research seeks to expand its capability to include haptic feedback and consequently shaping mode. This thesis gives an overview of the current 5x5 prototype and implements 2 commonly used haptic control methods, the admittance control and the impedance control. For implementing the admittance control, actuator displacement and velocity controllers and a proportional integral observer (PIO) are designed. The model-based unknown input observer is a solution for force estimation without added sensors in the actuators. For implementing the impedance control, a novel pressure control technique is designed to provide pressure feedback to the actuators array along with accurate and reliable displacement measurement. Both of the haptic control methods are evaluated, hardware and software limitations are outlined and possible future improvements are suggested.