IEEE Robotics & Automation Magazine - September 2023 - 68

■ A novel haptic control system that can teleoperate a robot
and provide users with a real-time force feedback from
process-generated sound has been introduced.
■ The force estimation accuracy of the proposed method was
experimentally measured for example scenarios. In particular,
machining applications have been reported with three different
configurations of tool and workpiece material: milling a titanium
workpiece, grinding a titanium workpiece, and milling an
aluminum workpiece. The maximum measured force error
in the three cases was 0.015 N (20%), 0.02 N (19%), and
0.025 N (44%), respectively, which compares favorably to
similar systems for indirect force estimation.
■ Haptic control performance was verified in terms of motion
following and force estimation capability during an example
operation. The system was proved to correctly follow the input
motion and estimate the force, with negligible errors and delay.
Overall, the method developed in this article presents
promising results for the addition of haptic feedback when no
conventional force sensors can be introduced in the system.
The proposed method has been demonstrated as reliable over
a range of real-case scenarios, with timely motion control and
real-time force acquisition and feedback to the operator.
ACKNOWLEDGMENT
This work was supported by Rolls-Royce.
AUTHORS
Hongshen Shi, Rolls-Royce University Technology Center in
Manufacturing and On-Wing Technology, Faculty of
Engineering, University of Nottingham, Nottingham NG8
1BB U.K. E-mail: hongshen.shi@nottingham.ac.uk.
Matteo Russo, Rolls-Royce University Technology Center
in Manufacturing and On-Wing Technology, Faculty of
Engineering, University of Nottingham, Nottingham NG8
1BB U.K. E-mail: matteo.russo@nottingham.ac.uk.
Juan de la Torre, Rolls-Royce University Technology
Center in Manufacturing and On-Wing Technology, Faculty
of Engineering, University of Nottingham, Nottingham NG8
1BB U.K. E-mail: juan.delatorre@nottingham.ac.uk.
Abdelkhalick Mohammad, Rolls-Royce University
Technology Center in Manufacturing and On-Wing
Technology, Faculty of Engineering, University of Nottingham,
Nottingham NG8 1BB U.K. E-mail: abd.mohammad1@
nottingham.ac.uk.
Xin Dong, Rolls-Royce University Technology Center in
Manufacturing and On-Wing Technology, Faculty of
Engineering, University of Nottingham, Nottingham NG8
1BB U.K. E-mail: xin.dong@nottingham.ac.uk.
Dragos Axinte, Rolls-Royce University Technology
Center in Manufacturing and On-Wing Technology, Faculty
of Engineering, University of Nottingham, Nottingham NG8
1BB U.K. E-mail: dragos.axinte@nottingham.ac.uk.
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IEEE Robotics & Automation Magazine - September 2023

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