A virtual reality Operator Interface station with hydraulic hardware-in-the-loop simulation for prototyping excavator control systems

A multimodal operator interface station is developed to display a realistic virtual reality depiction of a compact excavator performing general digging tasks. The interface station includes engine audio feedback and a near life-size operator display attached to a full-size cab. The excavator dynamics are determined by models of the hydraulic system, the linkage system, and the soil digging forces. To maximize the fidelity of the hydraulic model, certain ldquovirtualrdquo components of the model are replaced with real-time hardware-in-the-loop (HIL) simulations of the actual hardware. HIL simulation is done in a geographically isolated facility, with Internet based communication between HIL and the remote operator interface. This is the first reported high-fidelity operator interface to be combined with remote hydraulic HIL simulations.