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Proceedings Papers

Adaptive Impedance Control for the Haptic Shared Driving Task Based on Nonlinear MPC

Vahid Izadi, Amir H. Ghasemi
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T17A004, October 5–7, 2020
Paper No: DSCC2020-3296
DOI: https://doi.org/10.1115/DSCC2020-3296
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Topics: Haptics, Shared control
Proceedings Papers

HapticWall: An Encountered-Type Two-Dimensional Vertical System for Virtual Reality

Yuwei Li, David Donghyun Kim, Brian Anthony
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T25A001, October 5–7, 2020
Paper No: DSCC2020-3105
DOI: https://doi.org/10.1115/DSCC2020-3105
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Topics: Haptics, Virtual reality
Proceedings Papers

Exploring the Usability of Retrofit Hardware to Reduce Compensatory Movements in Game Controller-Mediated Telerehabilitation

Roni Barak Ventura, Oded Nov, Maurizio Porfiri
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T05A004, October 8–11, 2019
Paper No: DSCC2019-9041
DOI: https://doi.org/10.1115/DSCC2019-9041
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Topics: Control equipment, Hardware, Engines, Motors, Patient treatment, Additive manufacturing, Biomedicine, Design, Haptics, Health care
Proceedings Papers

Determination of Roles and Interaction Modes in a Haptic Shared Control Framework

Vahid Izadi, Arjun Yeravdekar, Amirhossein Ghasemi
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T05A005, October 8–11, 2019
Paper No: DSCC2019-9042
DOI: https://doi.org/10.1115/DSCC2019-9042
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Topics: Haptics, Shared control, Robots, Negotiation, Collaboration, Force measurement
Proceedings Papers

Force and Stiffness Controller Design for a Pneumatic Haptic Glove for Virtual Palpation

Matt E. Galla, Ehab I. Al Khatib, Yildirim Hurmuzlu, Edmond Richer
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T05A012, October 8–11, 2019
Paper No: DSCC2019-9211
DOI: https://doi.org/10.1115/DSCC2019-9211
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Topics: Control equipment, Design, Haptics, Stiffness
Proceedings Papers

Game Theoretic Modeling of a Steering Operation in a Haptic Shared Control Framework

Amir H. Ghasemi
Proc. ASME. DSCC2018, Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems, V002T22A003, September 30–October 3, 2018
Paper No: DSCC2018-9105
DOI: https://doi.org/10.1115/DSCC2018-9105
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Topics: Haptics, Modeling, Shared control, Collaboration, Trajectories (Physics), Vehicles, Weight (Mass)
Proceedings Papers

Adaptive Haptic Shared Control Framework Using Markov Decision Processing

Amir H. Ghasemi, Hossein Rastgoftar
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T32A003, September 30–October 3, 2018
Paper No: DSCC2018-9009
DOI: https://doi.org/10.1115/DSCC2018-9009
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Topics: Haptics, Shared control, Algorithms, Automatic control, Negotiation
Proceedings Papers

A Ball and Beam Module for a Haptic Paddle Education Platform

Chad G. Rose, Nathan Bucki, Marcia K. O’Malley
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T31A001, October 11–13, 2017
Paper No: DSCC2017-5027
DOI: https://doi.org/10.1115/DSCC2017-5027
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Topics: Education, Haptics, Dynamics (Mechanics), Mechatronics, Degrees of freedom, Design, Engines, Force feedback, Mechatronic devices, Motors
Proceedings Papers

Evaluation Metrics of Upper Extremities for People With Neurological Disorders: An Energy Based Approach

Theodosis Ilia, Loucas S. Louca
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T38A005, October 11–13, 2017
Paper No: DSCC2017-5357
DOI: https://doi.org/10.1115/DSCC2017-5357
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Topics: Nervous system, Haptics, Diseases, Statistical analysis, Virtual reality
Proceedings Papers

The Effects of Cutaneous Haptic Feedback on EMG-Based Motion Control of a Transfemoral Prosthesis

J. Miles Canino, Kevin B. Fite
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T06A004, October 12–14, 2016
Paper No: DSCC2016-9778
DOI: https://doi.org/10.1115/DSCC2016-9778
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Topics: Electromyography, Feedback, Haptics, Motion control, Prostheses, Artificial limbs, Bearings, Degrees of freedom, Engines, Errors
Proceedings Papers

Enhancing Haptic Effects Displayed via Neuromuscular Electrical Stimulation

Maxwell Harris, Mitchell McCarty, Andre Montes, Ozkan Celik
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T07A003, October 12–14, 2016
Paper No: DSCC2016-9823
DOI: https://doi.org/10.1115/DSCC2016-9823
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Topics: Haptics, Neuromuscular stimulation, Muscle, Damping, Degrees of freedom
Proceedings Papers

Haptic Control in Physical Human-Robot Interaction Based on Support Vector Machine Classification of Muscle Activity: A Preliminary Study

Antonio Moualeu, Jun Ueda
Proc. ASME. DSCC2014, Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy, V003T42A005, October 22–24, 2014
Paper No: DSCC2014-6339
DOI: https://doi.org/10.1115/DSCC2014-6339
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Topics: Haptics, Human-robot interaction, Muscle, Support vector machines, Robots, Control equipment, Degrees of freedom, Electromyography, Performance characterization, Position control
Proceedings Papers

Increasing Patient Engagement in Rehabilitation Through Citizen Science

Jeffrey Laut, Francesco Cappa, Oded Nov, Maurizio Porfiri
Proc. ASME. DSCC2014, Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing, V002T16A003, October 22–24, 2014
Paper No: DSCC2014-5870
DOI: https://doi.org/10.1115/DSCC2014-5870
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Topics: Haptics, Laptop computers, Robots, Virtual reality
Proceedings Papers

Evaluation of Friction Models for Haptic Devices

Aftab Ahmad, Kjell Andersson, Ulf Sellgren, Max Boegli
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T26A005, October 21–23, 2013
Paper No: DSCC2013-3982
DOI: https://doi.org/10.1115/DSCC2013-3982
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Topics: Friction, Haptics, Dams, Errors, Algebra, Control equipment, Differential equations, Feedback, Simulation, Trajectories (Physics)
Proceedings Papers

A Haptic System for Educational Games: Design and Application-Specific Kinematic Optimization

Jeffrey A. Kessler, R. Curtis Lovelace, Allison M. Okamura
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T26A006, October 21–23, 2013
Paper No: DSCC2013-4077
DOI: https://doi.org/10.1115/DSCC2013-4077
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Topics: Design, Haptics, Kinematics, Optimization, Linkages, Students, Displacement, Dynamic systems, Engineering prototypes, Engines
Proceedings Papers

Discrete Deformation Models for Real-Time Computation of Compliant Mechanisms

Jingjing Ji, Kok-Meng Lee
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T39A006, October 21–23, 2013
Paper No: DSCC2013-4108
DOI: https://doi.org/10.1115/DSCC2013-4108
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Topics: Compliant mechanisms, Computation, Deformation, Shapes, Approximation, Force feedback, Haptics, Inverse problems, Visualization
Proceedings Papers

A Method for Selecting Velocity Filter Cutoff Frequency for Maximizing Impedance Width Performance in Haptic Interfaces

Vinay Chawda, Ozkan Celik, Marcia K. O’Malley
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T26A001, October 21–23, 2013
Paper No: DSCC2013-3701
DOI: https://doi.org/10.1115/DSCC2013-3701
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Topics: Filters, Haptics, Computer simulation, Degrees of freedom, Filtration, Finite difference methods, Simulation, Simulation results
Proceedings Papers

Interaction Control for Rehabilitation Robotics via a Low-Cost Force Sensing Handle

Andrew Erwin, Fabrizio Sergi, Vinay Chawda, Marcia K. O’Malley
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T27A005, October 21–23, 2013
Paper No: DSCC2013-4073
DOI: https://doi.org/10.1115/DSCC2013-4073
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Topics: Control equipment, Force feedback, Haptics, Patient treatment, Resistors, Robotics, Robots, Transparency
Proceedings Papers

Model-Mediated Teleoperation With Predictive Models and Relative Tracking

Ryder C. Winck, Allison M. Okamura
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T26A003, October 21–23, 2013
Paper No: DSCC2013-3842
DOI: https://doi.org/10.1115/DSCC2013-3842
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Topics: Delays, Feedback, Haptics, Manipulators, Robots
Proceedings Papers

Haptic Glove Using Compression-Induced Friction Torque

Yoshihiro Kuroda, Yu Shigeta, Masataka Imura, Yuki Uranishi, Osamu Oshiro
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T26A004, October 21–23, 2013
Paper No: DSCC2013-3866
DOI: https://doi.org/10.1115/DSCC2013-3866
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Topics: Compression, Friction, Haptics, Torque, Finger joints (Carpentry), Actuators, Engineering prototypes, Grasping, Shape memory alloys, Weight (Mass)