Overview 

Unlike Passive haptic systems, which utilize actuators not capable of adding energy to the system, active haptic devices utilize actuators that are capable of adding energy. Such actuators may be electric motors, hydraulic systems, piezoelectric, or other various traditional actuators. Active systems pose potential stability and safety issues when simulating stiff environments.

IMDL's Current Focus

IMDL is approaching Haptic Robotics on several fronts, ranging from passivity of two-port networks, bilateral teleoperation with variable time delay, bilateral teleoperation of hydraulic systems, and development of haptic digital clay.

IMDL utilizes several active master & slave test beds such as HuRBiRT, a Phantom, HAL, and RALF. Recently IMDL is coordinating with other Georgia Tech labs to develope digital clay. Control systems used range from RTLinux, Hyperkernal with NT, Phantom Ghost software, WinCon, and VXWorks.

Additional Information

Review the following links for additional information regarding the various projects and the most recent updates. If you have any questions please feel free to contact the students involved.

• Teloperation of Long Reach Manipulators -- One of the original IMDL Bilateral teleoperation projects
  
  
• Design of HAL -- Some Basic information regarding Matt Rouse's design of HAL
  
  
• Bilateral Teleoperation of HAL -- Matt Kontz's work pertaining to controlling HAL as a slave with the Phantom as the master
  
  
• Haptic Two-Port Networks -- Information pertaining to the modeling of haptic components as modular two-port networks.
  
  
• Bilateral Teleoperation with Time Delay -- Saghirs research web page
  
  
• Bilateral Teleoperation with Time Delay -- Ho Ching is continuing Saghir's work
  
  
• Haptic Control of Excavation Equipment -- Joe Frankel's web page
  
  
• Digital Clay -- Haihong Zhu's web page for his work on the Digital Clay project
  
  
• Digital Clay -- Stephen Askin's web page for his work on the Digital Clay project
  
  
• Digital Clay -- Samuel Dessolin's web page for his work on the Digital Clay project
  
  

Though several of these can be accessed through the above web pages, here is a quick reference to some of the papers and documentation regarding the various active haptic projects.

• L.J.'s Ph.D Proposal -- Spring '02
  "Improved Haptic Two-Port Networks with use of Local Force Feedback and Passive Actuators"
  
  
• L.J.'s Ph.D Proposal Addendum -- Spring '02
  "Improved Haptic Two-Port Networks with use of Local Force Feedback and Passive Actuators"
  
  
• Saghir's Ph.D Proposal
  "Internet Based Teleoperation"
  
  
• Saghirs Dissertation
  "Internet Based Teleoperation"
  
  
• Paper presented at the 2002 IFAC Mechatronics Conference
  "Teleoperation of a Hydraulic Forklift from a Haptic Manipulator over theInternet" -- 12/02
  
  
• Matt Kontz's Masters Thesis
  "Haptic Enhancement of Operator Capabilities in Hydraulic Equipment" -- 12/02
  
  

• Martin Young's Masters Presentation -- 6/00
  
  
• Matt Kontz's Masters Presentation -- 12/02
  
  
• Group Presentation (L.J) -- 11/00

People involved with this project

Faculty:

Current Students: