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Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-03172017-131446


Tipo di tesi
Tesi di laurea magistrale
Autore
BUFALO, FRANCESCO
URN
etd-03172017-131446
Titolo
Design and Evaluation of a Force-Stiffness Haptic Feedback for Learning a Disturbance Rejection Task
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Pollini, Lorenzo
Parole chiave
  • disturbance rejection
  • force feedback
  • haptic
  • learning
  • stiffness feedback
Data inizio appello
04/05/2017
Consultabilità
Non consultabile
Data di rilascio
04/05/2087
Riassunto
This thesis proposes a novel training method with haptic aids based on a Force-Stiffness feedback that decreases throughout the training. The novel training method was tested in a human-in-the-loop experiment. In the experiment, participants were split into three groups: variable haptic aid (VHA), constant haptic aid (CHA) and no haptic aid (NoHA). The VHA and CHA groups performed a first training phase with variable and constant haptic feedback respectively, followed by an evaluation phase without external aids. The NoHA group performed the entire experiment without external aids. Results showed that in the training phase both VHA and CHA groups performed better than NoHA group. In the evaluation phase tough, only the VHA group obtained better performances than the NoHA group. Specifically, participants were able to quickly recover similar performances to those obtained at the end of the training phase. Thus, the variable haptic training proved to be more effective than the constant haptic training and manual control at helping participants learn the task.
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