Haptically-Coupled Devices: Stability Analysis and Application to Drive-by-Wire Systems.
Haptic devices allow users to interact with a certain environment through the sense of touch. This environment is usually either a virtual scene or a somehow remote environment. In one sentence, a haptic device is a mechatronic system that allows a bidirectional human-machine interaction and in w...
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| Format: | info:eu-repo/semantics/doctoralThesis |
| Language: | eng |
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Servicio de Publicaciones. Universidad de Navarra
2014
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| Online Access: | https://hdl.handle.net/10171/37205 |
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| author | Ciáurriz-Mañú, P. (Pablo) Díaz-Garmendia, I. (Iñaki) Gil-Nobajas, J.J. (Jorge Juan) |
| author_facet | Ciáurriz-Mañú, P. (Pablo) Díaz-Garmendia, I. (Iñaki) Gil-Nobajas, J.J. (Jorge Juan) |
| author_sort | Ciáurriz-Mañú, P. (Pablo) |
| collection | DSpace |
| description | Haptic devices allow users to interact with a certain environment through
the sense of touch. This environment is usually either a virtual scene or a
somehow remote environment. In one sentence, a haptic device is a mechatronic
system that allows a bidirectional human-machine interaction and in which a
tactile restoration is provided. Haptic technology is still in its early stages of
development, according to the vast amount of possibilities that it offers or may
offer in the future. Possible applications of this technology include smartphones,
automotive industry, aeronautics or medical applications (surgery or rehabilitation
processes).
This thesis investigates and provides solutions in two haptic areas: haptic
stability and drive-by-wire technology. On the one hand, a study of some of the
factors that affect the Z-width of the system is carried out. On the other hand,
haptic technology is applied to a real application with a promising future in the
automotive field: a drive-by-wire system.
One key aspect of haptic systems is that both, the user and the mechatronic
device share the same workspace. This fact carries with it more restrictive stability
criteria than common robotic applications in which the machine is usually isolated
in a safe space. For this reason, the study of the stability is a very important task.
In the first place, a methodology for a thorough theoretical study of any haptic
device is proposed, together with an application that was developed to make this
process easier and more intuitive. Afterwards, the influence of two of the factors
(vibration modes and time delay) that affect the size and shape of the Z-width of
the haptic system is analyzed.
Drive-by-wire technology has already been used for many decades in the
aeronautics sector, but its application to road vehicles progresses at a much
slower pace. Different attempts have been made by manufacturers to equip their
vehicles with this system but the final establishment of this technology is expected
to arrive with the electric cars. It provides multiple advantages in terms of weight,
material costs and safety measures.
The second part of this thesis focuses on a haptic device designed in
CEIT for drive-by-wire applications. This system encompasses all the driving
functionalities in a single device, which can be used with a single hand. A second
version of this driving system has been created, combining two of these devices
with a virtual coupling for a more comfortable and secure driving. Both versions
have been preliminarily tested with users, obtaining some surprising results in
terms of user adaptation time. |
| format | info:eu-repo/semantics/doctoralThesis |
| id | oai:dadun.unav.edu:10171-37205 |
| institution | Universidad de Navarra |
| language | eng |
| publishDate | 2014 |
| publisher | Servicio de Publicaciones. Universidad de Navarra |
| record_format | dspace |
| spelling | oai:dadun.unav.edu:10171-372052022-02-07T11:39:06Z Haptically-Coupled Devices: Stability Analysis and Application to Drive-by-Wire Systems. Ciáurriz-Mañú, P. (Pablo) Díaz-Garmendia, I. (Iñaki) Gil-Nobajas, J.J. (Jorge Juan) Tecnologías del automóvil. Modos de vibración. Análisis de estabilidad. Interacción hombre-máquina. Interfaces hápticos. Haptic devices allow users to interact with a certain environment through the sense of touch. This environment is usually either a virtual scene or a somehow remote environment. In one sentence, a haptic device is a mechatronic system that allows a bidirectional human-machine interaction and in which a tactile restoration is provided. Haptic technology is still in its early stages of development, according to the vast amount of possibilities that it offers or may offer in the future. Possible applications of this technology include smartphones, automotive industry, aeronautics or medical applications (surgery or rehabilitation processes). This thesis investigates and provides solutions in two haptic areas: haptic stability and drive-by-wire technology. On the one hand, a study of some of the factors that affect the Z-width of the system is carried out. On the other hand, haptic technology is applied to a real application with a promising future in the automotive field: a drive-by-wire system. One key aspect of haptic systems is that both, the user and the mechatronic device share the same workspace. This fact carries with it more restrictive stability criteria than common robotic applications in which the machine is usually isolated in a safe space. For this reason, the study of the stability is a very important task. In the first place, a methodology for a thorough theoretical study of any haptic device is proposed, together with an application that was developed to make this process easier and more intuitive. Afterwards, the influence of two of the factors (vibration modes and time delay) that affect the size and shape of the Z-width of the haptic system is analyzed. Drive-by-wire technology has already been used for many decades in the aeronautics sector, but its application to road vehicles progresses at a much slower pace. Different attempts have been made by manufacturers to equip their vehicles with this system but the final establishment of this technology is expected to arrive with the electric cars. It provides multiple advantages in terms of weight, material costs and safety measures. The second part of this thesis focuses on a haptic device designed in CEIT for drive-by-wire applications. This system encompasses all the driving functionalities in a single device, which can be used with a single hand. A second version of this driving system has been created, combining two of these devices with a virtual coupling for a more comfortable and secure driving. Both versions have been preliminarily tested with users, obtaining some surprising results in terms of user adaptation time. Los dispositivos hápticos permiten al usuario interactuar con un entorno concreto por medio del sentido del tacto. Este entorno puede ser una escena virtual o incluso un entorno remoto. En una frase, un dispositivo háptico es un sistema mecatrónico que permite una interacción bidireccional entre el humano y la máquina y en el que se produce una restitución de fuerza al usuario. La tenconología háptica está todavía en sus primeros niveles de desarrollo si nos fijamos en la enorme cantidad de posibilidades que actualmente ofrece y que puede ofrecer en un futuro próximo. Posibles aplicaciones de esta tecnología son los smartphones, las industrias del automóvil y aeronáuticas y aplicaciones médicas como la cirugía o la rehabilitación de pacientes. La presente tesis investiga y proporciona soluciones en dos áreas distintas de la háptica: el problema de la estabilidad y la tecnología drive-by-wire. Por un lado, se ha llevado a cabo un estudio de algunos de los factores que afectan a la región-Z del sistema. Por otra parte, se ha aplicado la tecnología háptica a una aplicación real muy prometedora en el ámbito de la automoción: los sistemas drive-by-wire. Un aspecto clave de los sistemas hápticos es que el usuario y el dispositivo mecatrónico están en el mismo espacio de trabajo. Este hecho conlleva a unos requisitos de estabilidad más restrictivos que otras aplicaciones robóticas más comunes en las que las máquinas están aisladas en un espacio restringido. Por esta razón, el estudio de la estabilidad adquiere una importancia especial. En primer lugar se propone una metodología para el estudio teórico de cualquier dispositivo háptico, así como una herramienta que ha sido desarrollada para facilitar y hacer más intuitivo este proceso. Posteriormente se ha estudiado la influencia de dos de los factores que afectan al tamaño y a la forma de la región-Z, los modos de vibración del interfaz y los retrasos temporales. La tecnología drive-by-wire se lleva usando durante décadas en el sector aeronáutico pero su aplicación a los vehículos terrestres lleva un ritmo mucho menor. Se han llevado a cabo distintos intentos por parte de los fabricantes para equipar a los vehículos con esta tecnología pero se espera que el establecimiento definitivo de esos sistemas llegue con los vehículos eléctricos. Las ventajas que que aportan estos sistemas en términos de peso, coste de los materiales y sistemas de seguridad son cuantiosas. La segunda parte de esta tesis se enfoca en un dispositivo háptico desarrollado en el CEIT para aplicaciones drive-by-wire. Este dispositivo junta en un único aparato que puede ser manejado con una sola mano todas las funciones necesarias para la conducción de un vehículo. Una segunda versión de este sistema de conducción ha sido desarrollado combinando dos de estos dispositivos mediante un acoplamiento virtual para una conducción más cómoda y segura. Por último, se han realizado una serie de experimentos con usuarios para una validación preliminar de ambos sistemas. 2014-12-19T15:18:07Z 2014-12-19T15:18:07Z 2014 2014-12-12 info:eu-repo/semantics/doctoralThesis https://hdl.handle.net/10171/37205 eng info:eu-repo/semantics/openAccess application/pdf Servicio de Publicaciones. Universidad de Navarra |
| spellingShingle | Tecnologías del automóvil. Modos de vibración. Análisis de estabilidad. Interacción hombre-máquina. Interfaces hápticos. Ciáurriz-Mañú, P. (Pablo) Díaz-Garmendia, I. (Iñaki) Gil-Nobajas, J.J. (Jorge Juan) Haptically-Coupled Devices: Stability Analysis and Application to Drive-by-Wire Systems. |
| title | Haptically-Coupled Devices: Stability Analysis and Application to Drive-by-Wire Systems. |
| title_full | Haptically-Coupled Devices: Stability Analysis and Application to Drive-by-Wire Systems. |
| title_fullStr | Haptically-Coupled Devices: Stability Analysis and Application to Drive-by-Wire Systems. |
| title_full_unstemmed | Haptically-Coupled Devices: Stability Analysis and Application to Drive-by-Wire Systems. |
| title_short | Haptically-Coupled Devices: Stability Analysis and Application to Drive-by-Wire Systems. |
| title_sort | haptically-coupled devices: stability analysis and application to drive-by-wire systems. |
| topic | Tecnologías del automóvil. Modos de vibración. Análisis de estabilidad. Interacción hombre-máquina. Interfaces hápticos. |
| url | https://hdl.handle.net/10171/37205 |
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