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Fall 2020
Haptic interaction is the human's most basic way to understand an environment and effect change in it. Haptic feedback provides humans who operate machines with a sense of touching objects they are not actually touching but are manipulating by the machines. Haptic feedback allows the human...
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Spring 2015
This thesis focuses on the analysis and implementation of haptic teleoperation systems for home-based remote rehabilitation therapies. The main objective is to link the hand of a hospital-based therapist to the hand of a home-based disabled patient haptically, in order to simulate conventional...
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Stability of Haptic Virtual Environments and Teleoperation Systems : Effect of Sampled-Data Control, Communication Delay and Active Operator
DownloadFall 2013
Three factors can jeopardize the stability of haptic virtual environments (HVE)s and teleoperation systems: (a) delayed communication channel, (b) controller discretization and (c) active operator intervention. This thesis studies the stability of these systems and investigates the simultaneous...