Biodynamic Feedthrough Compensation and Experimental Results Using a Backhoe

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dc.contributor.author Heather C. Humphreys en_US
dc.contributor.author Book, Wayne John en_US
dc.contributor.author Huggins, James D. en_US
dc.date.accessioned 2011-06-17T19:51:55Z
dc.date.available 2011-06-17T19:51:55Z
dc.date.issued 2011-03
dc.identifier.citation Heather C. Humphreys, Wayne J. Book and James D. Huggins, "Biodynamic Feedthrough Compensation and Experimental Results Using a Backhoe," Proceedings of the 52nd National Conference on Fluid Power, Las Vegas (NV), USA, March 23 - 25, 2011. en_US
dc.identifier.uri http://hdl.handle.net/1853/39181
dc.description Presented at the 52nd National Conference on Fluid Power, Las Vegas, NV, USA, March 23-25, 2011. en_US
dc.description.abstract In some operator-controlled machines, motion of the controlled machine excites motion of the human operator, which is fed back into the control device, causing unwanted input and sometimes instability; this phenomenon is termed biodynamic feedthrough. In operation of backhoes and excavators, biodynamic feedthrough causes control performance degradation. This work utilizes a previously developed advanced backhoe user interface which uses coordinated position control with haptic feedback, using a SensAble Omni six degree-of-freedom haptic display device. Backhoe user interface designers and our own experiments indicate that biodynamic feedthrough produces undesirable oscillations in output with conventionally controlled backhoes and excavators, and it is even more of a problem with this advanced user interface. Results indicate that the coordinated control provides more intuitive operation, and the haptic feedback relays meaningful information back to the user. But the biodynamic feedthrough problem must be overcome in order for this improved interface to be applicable. For the purposes of reducing model complexity, the system is limited to a single degree of freedom, using fore-aft motion only. This paper investigates what types of controller-based methods of compensation for biodynamic feedthrough are most effective in backhoe operation, and how they can be implemented and tested with human operators. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Biodynamic feedthrough en_US
dc.subject Backhoes en_US
dc.subject Control performance degradation en_US
dc.subject Haptic feedback en_US
dc.title Biodynamic Feedthrough Compensation and Experimental Results Using a Backhoe en_US
dc.type Proceedings en_US
dc.type Pre-print en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US


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