טכניון מכון טכנולוגי לישראל
הטכניון מכון טכנולוגי לישראל - בית הספר ללימודי מוסמכים  
M.Sc Thesis
M.Sc StudentShauli Yoav
SubjectForce Feedback System
DepartmentDepartment of Mechanical Engineering
Supervisor Professor Moshe Shoham


Abstract

Remote controlled systems and virtual reality systems have been operating successfully for the past decades in various applications, such as nuclear plants, underwater operations, medicine, space and various types of simulators. Over the years the systems have been improved, to the point where they can imitate the operator's motions and sometimes even improve them, by attenuation or amplification of motion and by decreasing natural tremor in systems requiring high precision. In these systems, the  human interface with the system is of crucial importance, and the quality of interface affects the ability of the operator to carry out his mission. The man-machine interface usually includes visual information, and often audio information, but seldom does the interface include elements capable of passing back the feeling of touch and force - an essential feature in several operations carried out in interaction with the surrounding.

The present study depicts the process of designing and construction of a system supplying force feedback. The process of designing the system was based on analysis of the predicted motions in actions of assembling and gripping. The analysis of such motions indicated that most actions are performed using two fingers (thumb and index finger), the actions are performed using the fingertips, and the main motions are shifting the fingers in the gripping-plane and rotation of the fingers relative to each other.

The force-feedback interface designed in the present study is based on a Master/Slave system wherein the designed device serves as the Master unit. The degrees of freedom in which the system supplies force-feedback are a linear motion for each finger, and a motion of rotation of one finger relative to another. In addition, the system enables the operator to move all fingers in three additional passive degrees of freedom (for each finger).