Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward

被引：28

作者：

Gil, Jorge Juan ^{[1
,2
]}

Rubio, Angel ^{[1
,2
]}

Savall, Joan ^{[1
,2
]}

机构：

[1] CEIT, Dept Appl Mech, E-20018 San Sebastian, Spain

[2] Univ Navarra, TECNUN, E-20018 San Sebastian, Spain

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2009年 / 17卷 / 04期

关键词：

Discrete time systems; feedforward systems; haptic systems; human factors; stability; INTERFACE;

D O I：

10.1109/TCST.2008.2000984

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

When using a haptic device in unconstrained movement, the user should experience only minor inertia. For certain tasks, the workspace of the device should be similar or even larger than that of the human arm. This condition tends to lead to large devices that often present high rather than low inertia. This brief describes a method to decrease the inertia felt by users of impedance haptic devices. It has been successfully implemented in the LHIfAM haptic device. The effect that this strategy has on stability and virtual contact is also illustrated.

引用

页码：833 / 838

页数：6

共 22 条

[1] Control law design for haptic interfaces to virtual reality [J].

Adams, RJ ;

Hannaford, B .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2002, 10 (01) :3-13

[2]

[Anonymous], 1995, DISCRETE TIME CONTRO

[3]

Astrom K.J., 1995, INSTRUMENT SOC AM

[4]

Bernstein NL, 2005, WORLD HAPTICS CONFERENCE: FIRST JOINT EUROHAPTICS CONFERENCE AND SYMPOSIUM ON HAPTIC INTERFACES FOR VIRUTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS, P290

[5] A large haptic device for aircraft engine maintainability [J].

Borro, D ;

Savall, J ;

Amundarain, A ;

Gil, JJ ;

García-Alonso, A ;

Matey, L .

IEEE COMPUTER GRAPHICS AND APPLICATIONS, 2004, 24 (06) :70-74

[6]

Carignan C., 2000, HAPTICS E ELECT J HA, V1

[7]

CHEN E, 1999, P 1 INT WORKSH VIRT, P97

[8]

CLOVER CL, 1977, P IEEE INT C ROB AUT, P724

[9]

EPPINGER SD, 1987, P IEEE INT C ROB AUT, V2, P904

[10] Force-based impedance control of a haptic master system for teleoperation [J].

Frisoli, A. ;

Sotgiu, E. ;

Avizzano, C.A. ;

Checcacci, D. ;

Bergamasco, M. .

Sensor Review, 2004, 24 (01) :42-50

← 1 2 3 →