Diseño y construcción de una interfaz háptica de un grado de libertad con interfaz hombre-máquina

Abstract

Haptic interfaces allow human-machine interaction in virtual environments that can be both simulated or remote. Technological advances, both in electronics and in informatic tools have allowed important developments of these devices. This research presents the results of the implementation of a haptic interface of one degree of freedom using classic controllers, such as PID, and modern controllers designed in state-space that require a parametric identification of the system. The design of a neural PID controller, which tunes their parameters depending on the operating point of the system as it would do an adaptive control, is also proposed. Finally, a pair of applications are presented: one in virtual reality of a dynamic system, which simulates a virtual pendulum as well as its controller and its closed-loop behavior; and a motion follower that reproduces the joint movement of a human knee.