1. Overview of the Intelligent Systems (IS) Focus at Clemson
Tim Burg
Department of Electrical and Computer Engineering
Clemson University

2. Defining an Intelligent System
Sensing
Vision
Estimation
Controller
Computing
Control Algorithm
Linear
Nonlinear
System
Electrical
Biological
Chemical
Mechanical
Robotic
Output

3. Core Expertise in Intelligent Systems
Tim Burg
Haptics
Biofabrication
Stan Birchfield
Vision Processing
Darren Dawson
Nonlinear Control
Richard Groff
Magnetic Fiber Control
Ian Walker
Soft Robots
Ian Walker
Soft Robots

4. Interesting Haptic Result
Dynamic touch - use of muscle sensitivity to perceive mechanical properties of objects that are wielded in space.
Can lift a coffee cup by its handle to estimate the volume
Attunement - user converges on perceptual variables that are correlated with the perceived property
Calibration - learning of the correct scaling factor for specifying variables through feedback

5. Sense Mechanical Parameters When Wielding
Human haptic system is sensitive to time-varying forces and torques, it seems to use them to register mechanical quantities that remain invariant.
Subjects can estimate length

6. Tricking Perception of Mechanical Parameters
Masses attached at various positions on each rod so as to break the natural covariation between moments, show that length perception is related to Inertia and Static Moment
Subjects incorrectly estimate length

7. Haptic Device to Reproduce Experiments
Can the device reproduce the dynamics of the wielded rod so user can estimate length?
Can the device be used to attune the user to specific mechanical variables?
Can the user be trained (calibrated) to estimate length from the perceived variables?
Quansar 5DOF Haptic Wand

8. Experimental Design of Haptic Experiments
Haptic Simulation

9. Results
Results from the study suggest that subjects can be trained by the process of attunement and calibration to estimate physical properties (like length) based on perceived haptic information.
The primary implications of these findings pertain to the design of virtual haptic surgical simulators where kinesthetic parameters may improve haptic perception and skills training and the transfer of learned skills to real environments.
Conversely, if haptic feedback is not addressed in the simulator design then inappropriate, hidden negative training may occur that may be detrimental to skills transfer.

10. A More Theoretical Framework
Modeling – Haptics as a Leader/Follower System
Control Design to Make Leader “Feel” the Environment of the Follower
Observer to Estimate Input Force

11. Where Can We Collaborate?
Sensing
Vision
Estimation
Controller
Computing
Control Algorithm
Linear
Nonlinear
System
Electrical
Biological
Chemical
Mechanical
Robotic
Output
Tim Burg
Department of Electrical and Computer Engineering
Clemson University