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Efficient and situated design of haptic devices
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).ORCID iD: 0000-0002-6528-1371
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).ORCID iD: 0000-0001-6692-2794
(English)In: Article in journal (Refereed) Submitted
Abstract [en]

It is a challenging task to develop and optimize a high-performing haptic device for, e.g., medical training,because of the multi-objective performance requirements, and the complex relations between the design variablesand the performance objectives. Consequently, the solution space is scrutinized with efficient optimization techniques,and the cause-effect relations are preferably represented in a way that enables further reasoning in amulti-discipline setting, e.g., as Pareto-front curves and surfaces. Furthermore, if we have found a Pareto-optimalsolution, how can we benefit from the knowledge and optimization results obtained in that process if we are facinga trailing challenge (a new design situation) to re-design the initial solution to another application and/or otherrequirements, i.e. how can we address this new situation by efficiently re-using as much as possible of the initialsolutions? In this paper, we first present multi-objective optimizations of a 6-degree-of-freedom TAU haptic device.To investigate how we efficiently can address new design situations, by making use of the initial solutions, we havedefined, solved and analyzed six re-design cases. For the different cases, it is shown what can be reused and inwhat way that can be done. The six studied cases are then analyzed and a generic process for situated designoptimization, based on available knowledge and Pareto-optimal solutions, is proposed.

Keywords [en]
Design optimization, haptic devices, situatedness, multi-criteria, metamodel, multidisciplinary design optimization
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-217326OAI: oai:DiVA.org:kth-217326DiVA, id: diva2:1155512
Note

QC 20171108

Available from: 2017-11-08 Created: 2017-11-08 Last updated: 2017-11-08Bibliographically approved
In thesis
1. A methodology for situated and effective design of haptic devices
Open this publication in new window or tab >>A methodology for situated and effective design of haptic devices
2017 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

The realism of virtual surgery through a surgical simulator depends largely on the precision and reliability of the haptic device. The quality of perception depends on the design of the haptic device, which presents a complex design task due to the multi-criteria and conflicting character of the functional and performance requirements. In the model-based evaluation of the performance criteria of a haptic device, the required computational resources increase with the complexity of the device structure as well as with the increased level of detail that is created in the detail design phases. Due to uncertain requirements and a significant knowledge gap, the design task is fuzzy and more complex in the early design phases.

The goal of this thesis is to propose a situated, i.e., flexible, scalable and efficient, methodology for multi-objective and multi-disciplinary design optimization of high-performing 6-DOF haptic devices.

The main contributions of this thesis are:

1. A model-based and simulation-driven engineering design methodology and a flexible pilot framework are proposed for design optimization of high-performing haptic devices. The multi-disciplinary design optimization method was utilized to balance the conflicting criteria/requirements of a multi-domain design case and to solve the design optimization problems concurrently.

2. A multi-tool framework is proposed. The framework integrates metamodel-based design optimization with complementary engineering tools from different software vendors, which was shown to significantly reduce the total computationally effort.

3. The metamodeling methods and sampling sizes for specific performance indices found from case studies were shown to be applicable and usable for several kinds of 6-degrees-of-freedom haptic devices.

4. The multi-tool framework and the assisting methodology were further developed to enable computationally efficient and situated design multi-objective optimization of high-performing haptic devices. The design-of-experiment (DOE) and metamodeling techniques are integrated with the optimization process in the framework as an option to solve the design optimization case with a process that depends on the present system complexity.

Place, publisher, year, edition, pages
KTH Royal Institute of Technology, 2017. p. 66
Series
TRITA-MMK, ISSN 1400-1179 ; 2017:13
Keywords
Design optimization, haptic devices, metamodel, multi-criteria, situatedness
National Category
Mechanical Engineering
Research subject
Machine Design
Identifiers
urn:nbn:se:kth:diva-217327 (URN)978-91-7729-573-0 (ISBN)
Public defence
2017-11-29, Gladan, Brinellvägen 85, Stockholm, 10:00 (English)
Supervisors
Note

QC 20171108

Available from: 2017-11-08 Created: 2017-11-08 Last updated: 2017-11-08Bibliographically approved

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