Positioning Stage Control With Tactile Feedback and Virtual Inertia
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Solution Overview
Problem
Existing stage control systems do not provide users with the experience of directly moving the stage, as the motion is often assisted by actuators, lacking the tactile feedback and dynamics that mimic manual control, which can lead to an unnatural interaction with the system.
Innovation Solution
A control system that uses sensors to tune the properties and dynamics of the positioning system to align with user perception, providing virtual inertia, friction, and drag, allowing users to interact with the stage as if they are directly moving it, with position-based and velocity-based tactile feedback for optimal control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If actuators are used to assist stage motion, then motion control precision is improved, but user perception of direct control is degraded
Solution Approach 1:
The system employs force sensors to detect user input forces and provides real-time feedback by adjusting actuator output to match the user's intended motion. The control system continuously monitors sensor data and modifies actuator assistance dynamically, allowing users to perceive direct control while maintaining precise motion control through automated feedback loops.
Solution Approach 2:
The system dynamically changes actuator parameters (force, torque, stiffness) based on detected user input and desired motion characteristics. By adjusting these parameters in real-time, the system can transition between different control modes, providing both precise motion control and natural user perception of direct manipulation.
2Ease of operation
If actuator assistance is provided for stage motion, then ease of operation is improved, but tactile feedback and dynamics are degraded
Solution Approach 1:
Force sensors act as intermediaries between the user and the actuator system. These sensors detect the user's intended forces and movements, allowing the system to provide appropriate actuator assistance while preserving the user's tactile feedback. The sensors translate user intent into actuator commands without completely decoupling the user from the system dynamics.
3Weight of moving object
If the stage mass is reduced for easier manual movement, then ease of operation is improved, but stage payload capacity is degraded
Solution Approach 1:
The actuator system provides counterbalancing forces to compensate for the stage's weight and payload. By dynamically adjusting actuator output to offset gravitational forces and inertial effects, the system enables easy manual movement of heavy stages while maintaining full payload capacity. The actuators effectively cancel out the harmful effects of stage mass during user-operated motion.
Data Source
AI summary
Systems and methods for controlling positioning systems with stage moving under the control of direct user input to provide a user with a seemingly transparent interaction experience. A user contacts a handle coupled to the stage to provide input to a controller to effectuate stage motion. User input may include force applied to a load cell coupled to the handle to indicate a desired direction or speed for motion of the stage. Position system controller may be configured to provide tactile feedback to the user communicating stage position and speed information.