Course Description:
This graduate-level course addresses the design of the high-fidelity force feedback for virtual and teleoperated systems. Topics include real-time programming for haptics, haptic rendering and physically based modeling of contact with soft objects, stability of haptic interaction and control for force-feedback telemanipulation. The course includes several lab assignments using actual haptic devices to program virtual environments and teleoperators. Appropriate for students in Mechanical Engineering, Electrical and Computer Engineering, Computer Science, and Biomedical Engineering with interests in human-computer interaction, controls for robotics, and surgical assistance systems. Undergraduate students may be admitted with the consent of the instructor.\par
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Prerequisites: Knowledge of C programming and Linear Control Systems (or good performance in Design and Analysis of Dynamic Systems).
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2 Credits (Pass/Fail)
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Syllabus: The course will be offered in three parts as follows.
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First Part: Introduction to haptic systems and their applications, generating haptic feedback with a manipulator, developing a position-position control telerobotic system, real-time programming for generating force feedback. During this part students learn how to develop a force-feedback virtual wall and a force-feedback telerobotic system in the lab.
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Second Part: Collision detection, haptic rendering of rigid objects, physically based haptic rendering of soft objects, virtual fixtures. During this part students learn how to create a three dimensional force-feedback deformable virtual environment in the lab.
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Third Part: Input-output representation of haptic systems, passivity theory, passivity of Haptic systems, methods to stabilize a force-feedback system. During this part students learn how to stabilize a force-feedback system.