HapticV1, PascalFrancis, Curation, bibRecord, 000883

Force-feedback control of a spherical haptic device featuring an electrorheological fluid

Identifieur interne : 000883 ( PascalFrancis/Curation ); précédent : 000882; suivant : 000884

Force-feedback control of a spherical haptic device featuring an electrorheological fluid

Auteurs : Young-Min Han [Corée du Sud] ; Seung-Bok Choi [Corée du Sud]

Source :

Smart materials and structures [ 0964-1726 ] ; 2006.

RBID : Pascal:06-0528778

Descripteurs français

Pascal (Inist)
- Boucle réaction, Commande boucle fermée, Mode glissant, Système incertain, Actionneur, Tâche poursuite, Sensibilité tactile, Fluide électrorhéologique, Embrayage, Electrode, Moteur courant alternatif, Erreur poursuite, Equation ordre 2, Commande force, Modélisation, Méthode domaine temps, ., Angles d'Euler.

English descriptors

KwdEn :
- AC motors, Actuators, Closed loop control, Clutches, Electrodes, Electrorheological fluid, Euler angles, Feedback, Force control, Modelling, Second order equation, Sliding mode, Time domain method, Touch (physiological), Tracking error, Tracking task, Uncertain systems.

Abstract

This paper presents the force-feedback performance of an active type of haptic device featuring an electrorheological (ER) fluid via a sliding mode controller (SMC), which is very robust to external disturbances and parameter uncertainties. In order to generate a 2-degrees-of-freedom (2-DOF) active force, a spherical ER joint is designed based on the mathematical torque model. The ER joint is then manufactured by adopting two bi-directional clutch actuators and the spherical geometry of the electrode, and its field-dependent generating force is experimentally evaluated. Subsequently, the 2-DOF force display is manufactured by integrating the ER joint with AC motors. The force response of the manufactured haptic device is experimentally evaluated, and expressed by a second-order dynamic equation. In order to achieve the desired force trajectories, the SMC is formulated and experimentally realized by imposing an Euler angle relationship. Tracking control performances for various force trajectories are presented in the time domain, and their tracking errors are evaluated.

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A08	`01`	`1`	`ENG`	`@1 Force-feedback control of a spherical haptic device featuring an electrorheological fluid`
A11	`01`	`1`		`@1 HAN (Young-Min)`
A11	`02`	`1`		`@1 CHOI (Seung-Bok)`
A14	`01`			`@1 Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University @2 Incheon 402-751 @3 KOR @Z 1 aut. @Z 2 aut.`
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A23	`01`			`@0 ENG`
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A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
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C01	`01`		`ENG`	@0 This paper presents the force-feedback performance of an active type of haptic device featuring an electrorheological (ER) fluid via a sliding mode controller (SMC), which is very robust to external disturbances and parameter uncertainties. In order to generate a 2-degrees-of-freedom (2-DOF) active force, a spherical ER joint is designed based on the mathematical torque model. The ER joint is then manufactured by adopting two bi-directional clutch actuators and the spherical geometry of the electrode, and its field-dependent generating force is experimentally evaluated. Subsequently, the 2-DOF force display is manufactured by integrating the ER joint with AC motors. The force response of the manufactured haptic device is experimentally evaluated, and expressed by a second-order dynamic equation. In order to achieve the desired force trajectories, the SMC is formulated and experimentally realized by imposing an Euler angle relationship. Tracking control performances for various force trajectories are presented in the time domain, and their tracking errors are evaluated.
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C03	`06`	`X`	`FRE`	`@0 Tâche poursuite @5 11`
C03	`06`	`X`	`ENG`	`@0 Tracking task @5 11`
C03	`06`	`X`	`SPA`	`@0 Tarea persecución @5 11`
C03	`07`	`3`	`FRE`	`@0 Sensibilité tactile @5 18`
C03	`07`	`3`	`ENG`	`@0 Touch (physiological) @5 18`
C03	`08`	`X`	`FRE`	`@0 Fluide électrorhéologique @5 20`
C03	`08`	`X`	`ENG`	`@0 Electrorheological fluid @5 20`
C03	`08`	`X`	`SPA`	`@0 Fluido electroreologico @5 20`
C03	`09`	`3`	`FRE`	`@0 Embrayage @5 21`
C03	`09`	`3`	`ENG`	`@0 Clutches @5 21`
C03	`10`	`3`	`FRE`	`@0 Electrode @5 22`
C03	`10`	`3`	`ENG`	`@0 Electrodes @5 22`
C03	`11`	`3`	`FRE`	`@0 Moteur courant alternatif @5 23`
C03	`11`	`3`	`ENG`	`@0 AC motors @5 23`
C03	`12`	`X`	`FRE`	`@0 Erreur poursuite @5 24`
C03	`12`	`X`	`ENG`	`@0 Tracking error @5 24`
C03	`12`	`X`	`SPA`	`@0 Error persecusión @5 24`
C03	`13`	`X`	`FRE`	`@0 Equation ordre 2 @5 28`
C03	`13`	`X`	`ENG`	`@0 Second order equation @5 28`
C03	`13`	`X`	`SPA`	`@0 Ecuación orden 2 @5 28`
C03	`14`	`3`	`FRE`	`@0 Commande force @5 30`
C03	`14`	`3`	`ENG`	`@0 Force control @5 30`
C03	`15`	`3`	`FRE`	`@0 Modélisation @5 31`
C03	`15`	`3`	`ENG`	`@0 Modelling @5 31`
C03	`16`	`X`	`FRE`	`@0 Méthode domaine temps @5 32`
C03	`16`	`X`	`ENG`	`@0 Time domain method @5 32`
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C03	`17`	`3`	`FRE`	`@0 . @4 INC @5 82`
C03	`18`	`3`	`FRE`	`@0 Angles d'Euler @4 CD @5 96`
C03	`18`	`3`	`ENG`	`@0 Euler angles @4 CD @5 96`
C03	`18`	`3`	`SPA`	`@0 Angulos de Euler @4 CD @5 96`
N21				`@1 346`
N44	`01`			`@1 OTO`
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Le document en format XML

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<author><name sortKey="Han, Young Min" sort="Han, Young Min" uniqKey="Han Y" first="Young-Min" last="Han">Young-Min Han</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University</s1>
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<front><div type="abstract" xml:lang="en">This paper presents the force-feedback performance of an active type of haptic device featuring an electrorheological (ER) fluid via a sliding mode controller (SMC), which is very robust to external disturbances and parameter uncertainties. In order to generate a 2-degrees-of-freedom (2-DOF) active force, a spherical ER joint is designed based on the mathematical torque model. The ER joint is then manufactured by adopting two bi-directional clutch actuators and the spherical geometry of the electrode, and its field-dependent generating force is experimentally evaluated. Subsequently, the 2-DOF force display is manufactured by integrating the ER joint with AC motors. The force response of the manufactured haptic device is experimentally evaluated, and expressed by a second-order dynamic equation. In order to achieve the desired force trajectories, the SMC is formulated and experimentally realized by imposing an Euler angle relationship. Tracking control performances for various force trajectories are presented in the time domain, and their tracking errors are evaluated.</div>
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<fC01 i1="01" l="ENG"><s0>This paper presents the force-feedback performance of an active type of haptic device featuring an electrorheological (ER) fluid via a sliding mode controller (SMC), which is very robust to external disturbances and parameter uncertainties. In order to generate a 2-degrees-of-freedom (2-DOF) active force, a spherical ER joint is designed based on the mathematical torque model. The ER joint is then manufactured by adopting two bi-directional clutch actuators and the spherical geometry of the electrode, and its field-dependent generating force is experimentally evaluated. Subsequently, the 2-DOF force display is manufactured by integrating the ER joint with AC motors. The force response of the manufactured haptic device is experimentally evaluated, and expressed by a second-order dynamic equation. In order to achieve the desired force trajectories, the SMC is formulated and experimentally realized by imposing an Euler angle relationship. Tracking control performances for various force trajectories are presented in the time domain, and their tracking errors are evaluated.</s0>
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Force-feedback control of a spherical haptic device featuring an electrorheological fluid

Force-feedback control of a spherical haptic device featuring an electrorheological fluid

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