Analytic Approaches for Design and Operation of Haptic Human-Machine Interfaces – Models and Methods for Interaction with Robotic Systems

In this PhD defense talk, an overview of the correspondent thesis is provided and central aspects are discussed. Thereby, the four main areas of thesis – (i) ‘foundations’, (ii) ‘kinematic-dynamic modeling’, (iii) ‘problems, methods, solutions’, (iv) and ‘Euclidean teleoperation’ – are touched within the talk. Taking an application-oriented point of view, the presentation emphasizes the area of ‘teleoperation’ – a central technique and research stream in human-machine interaction. For controlling robots in three-dimensional Euclidean space, a systematic concept has been developed in the scope the thesis. The theoretical concept is presented together with necessary prerequisites and a set of experiments that demonstrate the broad applicability of the approach. With regard to ‘foundations’, the talk introduces a specially developed notation scheme that incorporates four different kinds of attributes: by means of the scheme, various relations within rigid multibody systems are stated systematically. Further, a glimpse is given to a novel, generalized formulation of the Newton–Euler equations. The areas of ‘kinematic-dynamic modeling’ and ‘problems, methods, and solutions’ are reflected in a comprehensive manner: amongst others, the approach of the program CAD-2-SIM is motivated and a refined solution for the redundant inverse kinematics problem of anthropomorphic – SRS-partitioned – mechanical 7R chains is outlined.