Increasing impact by mechanical resonance for teleoperated hammering

Manuel Aiple; Jan Smisek; André Schiele

doi:10.1109/TOH.2018.2882401

Increasing impact by mechanical resonance for teleoperated hammering

Manuel Aiple, Jan Smisek, André Schiele

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Abstract

Series elastic actuators (SEAs) are interesting for usage in harsh environments as they are more robust than rigid actuators. This paper shows how SEAs can be used in teleoperation to increase output velocity in dynamic tasks.
A first experiment is presented that tested human ability to achieve higher hammerhead velocities with a flexible hammer than with a rigid hammer, and to
evaluate the influence of the resonance frequency. In this experiment, 13 participants executed a hammering task in direct manipulation using flexible hammers in four conditions with resonance frequencies of 3.0 Hz to 9.9 Hz and one condition with a rigid hammer.
Then, a second experiment is presented that tested the ability of 32 participants to reproduce the findings of the first experiment in teleoperated manipulation with different feedback conditions: with visual and force feedback, without visual feedback, without force feedback, and with a communication delay of 40 ms.
The results indicate that humans can exploit the mechanical resonance of a flexible system to at least double the output velocity without combined force and vision feedback. This is an unexpected result, allowing the design of simpler and more robust teleoperators for dynamic tasks.

Original language	English
Pages (from-to)	154-165
Journal	IEEE Transactions on Haptics
Volume	12 ( April-June 2019)
Issue number	2
DOIs	https://doi.org/10.1109/TOH.2018.2882401
Publication status	Published - 2018

Bibliographical note

Accepted Author Manuscript - Copyright 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Keywords

Biomechanics
Human Performance
Tele-manipulation
Force Feedback

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10.1109/TOH.2018.2882401Licence: Unspecified

paper-toh-20181116Accepted author manuscript, 1.71 MBLicence: Unspecified

Cite this

@article{2159ba05689743eb9a301dbad791e8dd,

title = "Increasing impact by mechanical resonance for teleoperated hammering",

abstract = "Series elastic actuators (SEAs) are interesting for usage in harsh environments as they are more robust than rigid actuators. This paper shows how SEAs can be used in teleoperation to increase output velocity in dynamic tasks.A first experiment is presented that tested human ability to achieve higher hammerhead velocities with a flexible hammer than with a rigid hammer, and toevaluate the influence of the resonance frequency. In this experiment, 13 participants executed a hammering task in direct manipulation using flexible hammers in four conditions with resonance frequencies of 3.0 Hz to 9.9 Hz and one condition with a rigid hammer.Then, a second experiment is presented that tested the ability of 32 participants to reproduce the findings of the first experiment in teleoperated manipulation with different feedback conditions: with visual and force feedback, without visual feedback, without force feedback, and with a communication delay of 40 ms.The results indicate that humans can exploit the mechanical resonance of a flexible system to at least double the output velocity without combined force and vision feedback. This is an unexpected result, allowing the design of simpler and more robust teleoperators for dynamic tasks.",

keywords = "Biomechanics, Human Performance, Tele-manipulation, Force Feedback",

author = "Manuel Aiple and Jan Smisek and Andr{\'e} Schiele",

note = "Accepted Author Manuscript - Copyright 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.",

year = "2018",

doi = "10.1109/TOH.2018.2882401",

language = "English",

volume = "12 ( April-June 2019)",

pages = "154--165",

journal = "IEEE Transactions on Haptics",

issn = "1939-1412",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

number = "2",

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TY - JOUR

T1 - Increasing impact by mechanical resonance for teleoperated hammering

AU - Aiple, Manuel

AU - Smisek, Jan

AU - Schiele, André

N1 - Accepted Author Manuscript - Copyright 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

PY - 2018

Y1 - 2018

N2 - Series elastic actuators (SEAs) are interesting for usage in harsh environments as they are more robust than rigid actuators. This paper shows how SEAs can be used in teleoperation to increase output velocity in dynamic tasks.A first experiment is presented that tested human ability to achieve higher hammerhead velocities with a flexible hammer than with a rigid hammer, and toevaluate the influence of the resonance frequency. In this experiment, 13 participants executed a hammering task in direct manipulation using flexible hammers in four conditions with resonance frequencies of 3.0 Hz to 9.9 Hz and one condition with a rigid hammer.Then, a second experiment is presented that tested the ability of 32 participants to reproduce the findings of the first experiment in teleoperated manipulation with different feedback conditions: with visual and force feedback, without visual feedback, without force feedback, and with a communication delay of 40 ms.The results indicate that humans can exploit the mechanical resonance of a flexible system to at least double the output velocity without combined force and vision feedback. This is an unexpected result, allowing the design of simpler and more robust teleoperators for dynamic tasks.

AB - Series elastic actuators (SEAs) are interesting for usage in harsh environments as they are more robust than rigid actuators. This paper shows how SEAs can be used in teleoperation to increase output velocity in dynamic tasks.A first experiment is presented that tested human ability to achieve higher hammerhead velocities with a flexible hammer than with a rigid hammer, and toevaluate the influence of the resonance frequency. In this experiment, 13 participants executed a hammering task in direct manipulation using flexible hammers in four conditions with resonance frequencies of 3.0 Hz to 9.9 Hz and one condition with a rigid hammer.Then, a second experiment is presented that tested the ability of 32 participants to reproduce the findings of the first experiment in teleoperated manipulation with different feedback conditions: with visual and force feedback, without visual feedback, without force feedback, and with a communication delay of 40 ms.The results indicate that humans can exploit the mechanical resonance of a flexible system to at least double the output velocity without combined force and vision feedback. This is an unexpected result, allowing the design of simpler and more robust teleoperators for dynamic tasks.

KW - Biomechanics

KW - Human Performance

KW - Tele-manipulation

KW - Force Feedback

UR - https://ieeexplore.ieee.org/document/8540940

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DO - 10.1109/TOH.2018.2882401

M3 - Article

SN - 1939-1412

VL - 12 ( April-June 2019)

SP - 154

EP - 165

JO - IEEE Transactions on Haptics

JF - IEEE Transactions on Haptics

IS - 2

ER -

Increasing impact by mechanical resonance for teleoperated hammering

Abstract

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Human hammering with an elastic hammer through a 1-DOF teleoperator with different feedback types

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Increasing impact by mechanical resonance for teleoperated hammering

Abstract

Bibliographical note

Keywords

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Human hammering with an elastic hammer through a 1-DOF teleoperator with different feedback types

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