On the enhanced passivity of pneumatically actuated impedance-type haptic interfaces
Identifieur interne : 006311 ( Main/Merge ); précédent : 006310; suivant : 006312On the enhanced passivity of pneumatically actuated impedance-type haptic interfaces
Auteurs : XIANGRONG SHEN [États-Unis] ; Michael Goldfarb [États-Unis]Source :
- IEEE transactions on robotics [ 1552-3098 ] ; 2006.
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Abstract
The stable simulation of high-stiffness surfaces remains a challenge in impedance-type haptic simulations of mechanical environments. In this paper, the authors propose an approach to achieving a stable, high-stiffness surface in a haptic interface by leveraging the open-loop properties of pneumatic actuators. By using the open-loop component of the actuator stiffness as a primary component of stiffness simulation in a haptic interface, the system requires a comparatively small component of simulated stiffness from the closed-loop control of the actuator. A passivity analysis is presented describing how the presence of an open-loop stiffness enhances the range of passivity of haptically simulated high-stiffness surfaces. Experimental results both with and without a human operator are presented that demonstrate the effectiveness of the approach and its enhanced passivity relative to motor-actuated devices.
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Pascal:06-0379927Le document en format XML
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In this paper, the authors propose an approach to achieving a stable, high-stiffness surface in a haptic interface by leveraging the open-loop properties of pneumatic actuators. By using the open-loop component of the actuator stiffness as a primary component of stiffness simulation in a haptic interface, the system requires a comparatively small component of simulated stiffness from the closed-loop control of the actuator. A passivity analysis is presented describing how the presence of an open-loop stiffness enhances the range of passivity of haptically simulated high-stiffness surfaces. Experimental results both with and without a human operator are presented that demonstrate the effectiveness of the approach and its enhanced passivity relative to motor-actuated devices.</div></front></TEI><affiliations><list><country><li>États-Unis</li></country><region><li>Tennessee</li></region></list><tree><country name="États-Unis"><region name="Tennessee"><name sortKey="Xiangrong Shen" sort="Xiangrong Shen" uniqKey="Xiangrong Shen" last="Xiangrong Shen">XIANGRONG SHEN</name></region><name sortKey="Goldfarb, Michael" sort="Goldfarb, Michael" uniqKey="Goldfarb M" first="Michael" last="Goldfarb">Michael Goldfarb</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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