Our overall goal in our research is to develop and validate the paradigm of a Real-Time Haptic Immersive Virtual Environment (RT-HIVE) for enhanced human manipulation performance in a variety of application arenas. Haptic User Interfaces (HUIs) can provide users with sophisticated tactile/force feedback and passive- or active-manipulation assists during interactions with virtual environments. However, realizing these benefits requires HUIs that can generate and render a wide range of high fidelity dynamic behavior.
As electro- mechanically actuated articulated mechanical systems, high-performance HUIs should possess: low inertia, high stiffness, low friction, back-driveability, near-zero backlash, counterbalancing, sizeable workspace, and human matched force capabilities. Particular stress is place on the transparency of the device so that the HUI does not distort the reflected forces/torques by its electro-mechanical characteristics.
The physical design of the haptic device, in terms of selection of the type, number, location and actuation of the individual articulations plays an important role in determining the capabilities and overall performance of the system. The system must be designed and controlled carefully in order to minimize singular configurations, perform a wide range of constrained motion-force manipulation tasks with dexterity and strength, while remaining robust to local controller lapses and environmental disturbances.
To this end, we are proposing to design, develop, implement and validate HUIs based on parallel-mechanism architectures via virtual prototyping (SolidWorks/ADAMS) and physical prototyping (hardware-in-the-loop testing) and have openings for up to two qualified undergraduate students (seniors).
Disciplines: Mechanical Engineering, Aerospace Engineering
Student Skill-Set Needed: Must be motivated and capable of working independently. Programming experience in MATLAB and C is necessary. Experience with Virtual Prototyping Software (SolidWorks, ADAMS) would be a plus but can be learned on the job. Mechanical/ Shop skills desirable
Compensation: Academic Credit, Volunteer
Available: Fall, Spring
For further information on this opportunity, or to apply, contact:
Faculty Member: Venkat Krovi
Department: Mechanical And Aerospace Engineering
Office: 1011 Furnas Hall