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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- to stream Ncbi, to step Curation: 000B38
- to stream Ncbi, to step Checkpoint: 000B38
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pubmed:17416162Le document en format XML
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<author><name sortKey="Cho, Changhyun" sort="Cho, Changhyun" uniqKey="Cho C" first="Changhyun" last="Cho">Changhyun Cho</name>
<affiliation wicri:level="1"><nlm:affiliation>Korea Institute of Science and Technology, Center for Intelligent Robotics, Seoul 136-791, Korea. chcho@kist.re.kr</nlm:affiliation>
<country xml:lang="fr">Corée du Sud</country>
<wicri:regionArea>Korea Institute of Science and Technology, Center for Intelligent Robotics, Seoul 136-791</wicri:regionArea>
<placeName><settlement type="city">Séoul</settlement>
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<author><name sortKey="Song, Jae Bok" sort="Song, Jae Bok" uniqKey="Song J" first="Jae-Bok" last="Song">Jae-Bok Song</name>
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<author><name sortKey="Kim, Munsang" sort="Kim, Munsang" uniqKey="Kim M" first="Munsang" last="Kim">Munsang Kim</name>
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<sourceDesc><biblStruct><analytic><title xml:lang="en">Energy-based control of a haptic device using brakes.</title>
<author><name sortKey="Cho, Changhyun" sort="Cho, Changhyun" uniqKey="Cho C" first="Changhyun" last="Cho">Changhyun Cho</name>
<affiliation wicri:level="1"><nlm:affiliation>Korea Institute of Science and Technology, Center for Intelligent Robotics, Seoul 136-791, Korea. chcho@kist.re.kr</nlm:affiliation>
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<author><name sortKey="Song, Jae Bok" sort="Song, Jae Bok" uniqKey="Song J" first="Jae-Bok" last="Song">Jae-Bok Song</name>
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<author><name sortKey="Kim, Munsang" sort="Kim, Munsang" uniqKey="Kim M" first="Munsang" last="Kim">Munsang Kim</name>
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<series><title level="j">IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society</title>
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<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Computer Simulation</term>
<term>Energy Transfer</term>
<term>Equipment Design</term>
<term>Equipment Failure Analysis</term>
<term>Feedback</term>
<term>Man-Machine Systems</term>
<term>Models, Theoretical</term>
<term>Physical Stimulation (instrumentation)</term>
<term>Physical Stimulation (methods)</term>
<term>Touch</term>
<term>Transducers</term>
<term>User-Computer Interface</term>
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<keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Physical Stimulation</term>
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<term>Energy Transfer</term>
<term>Equipment Design</term>
<term>Equipment Failure Analysis</term>
<term>Feedback</term>
<term>Man-Machine Systems</term>
<term>Models, Theoretical</term>
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<front><div type="abstract" xml:lang="en">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.</div>
</front>
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