Course code: wbp202

Course name: Haptic System Design

This concerns an assignment

ECTS credit points: 4

Faculty of Mechanical Engineering and Marine Technology

Section of Man-Machine Systems

Lecturer(s): J.L.Herder, R.Q. van der Linde e.a.

Tel.:  015 - 27 84713 / 86585

Catalog data:

Haptics, master-slave, control, manipulator, mechanical design, parallel mechanisms, psychophysics

Course year:

MSc 1^st year

Period:

Hours per week:

Other hours:

Assessment:

Written report

Assessment period:

(see academic calendar)

Prerequisites (course codes):

Admission to MSc phase, wb2306, wb2311, wb3303

Follow up (course codes):

wb2407, wb2308

Detailed description of topics:

In this course, students carry out individual projects which contribute to the realization of a new design for a telerobotics system (master-slave) with force feedback, for instance to be used in (micro)surgery. Students identify their individual assigment themselves. Possible fields include specification of demands, conceptual or dimensional design (for instance the slave unit), kinematics and dynamics of (parallel) mechanisms, modeling (master unit, slave unit, human operator) and control (master-slave), evaluation and psychophysical measurments (to assess the ability of humans to operate the system or to derive design criteria). The FCS Haptic Master is part of the experimental set-up, the slave unit is to be designed in the progress of the course.

Course material:

• Reader; Blackboard, Website: http://mms.tudelft.nl/staff/herder/haptics.htm

References from literature:

• Depending on individual assignment, Reports from previous students

Remarks assessment, entry requirements, etc.:

The course incorporates a fair amount of self-reliance, and is intended to be Self-Developing in two senses. Firstly, this term emphasizes the responsability of the students to acquire the appropriate knowledge. Secondly, it indicates that students do not execute predefined yearly repetitive projects but rather define and execute small, not previously conducted research or design projects within the framework of the innovative overall project. Thus, the course aims to bridge the gap between regular courses and the graduation project. Meanwhile, the students efforts add up to the completion of a major design project.

Learning goals:

1. formulate a self-contained subproject within the framework of a given long-term research project in the field of haptic tele-operation

• get acquainted with background knowledge on the research subject

• ientify a subproject that has sufficient profundity and that can be completed in the allotted time

• frmulate the Research Questions or Design Objectives without reference to methods or solutions

2. execute the self-formulated subproject

• select and apply appropriate Research or Design Methods

• generate a variety of Research Questions or Conceptual Designs

• select the most appropriate Research Question or Conceptual Design

• create an Experimental Platform or Embodiment Design

• present the results in a concise report and podium presentation

• self-reflect on intended and actual project outcome

Computer use:

Depending on individual project

Laboratory project(s):

Depending on individual project. Could for example be a psychophysical experiment to assess the human sensitivity for a torque applied on the wrist by the master unit.

Design content:

Students will be familiarized with the following aspects, all of which are important for the design of the teleoperation system, of which every student chooses one for an individual assignment: specification of demands, conceptual design, dimensional design, optimization, kinematics, dynamics, parallel mechanisms, control (master-slave), identification, modeling, biomechanics, psychophysics.

Percentage of design:  80%