Energy-based control of a haptic device using brakes.
Identifieur interne : 005601 ( Main/Merge ); précédent : 005600; suivant : 005602Energy-based control of a haptic device using brakes.
Auteurs : Changhyun Cho [Corée du Sud] ; Jae-Bok Song ; Munsang KimSource :
- IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society [ 1083-4419 ] ; 2007.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Physical Stimulation.
- methods : Physical Stimulation.
- Computer Simulation, Energy Transfer, Equipment Design, Equipment Failure Analysis, Feedback, Man-Machine Systems, Models, Theoretical, Touch, Transducers, User-Computer Interface.
Abstract
This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the system in the specific direction. A force control scheme is proposed that computes the gain for smooth motion by considering the energy behavior of a system. Experiments show that smooth wall following is possible with a proposed force control scheme.
PubMed: 17416162
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pubmed:17416162Le document en format XML
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