HapticV1, PascalFrancis, Checkpoint, bibRecord, 000836

Haptic interaction stability with respect to grasp force

Identifieur interne : 000836 ( PascalFrancis/Checkpoint ); précédent : 000835; suivant : 000837

Haptic interaction stability with respect to grasp force

Auteurs : Janez Podobnik [Slovénie] ; Marko Munih [Slovénie]

Source :

IEEE transactions on systems, man and cybernetics. Part C, Applications and reviews [ 1094-6977 ] ; 2007.

RBID : Pascal:08-0093343

Descripteurs français

Pascal (Inist)
- Interface utilisateur, Réalité virtuelle, Relation homme machine, Sensibilité tactile, Préhension, Opérateur humain, Modélisation.
Wicri :
- topic : Réalité virtuelle.

English descriptors

KwdEn :
- Gripping, Human operator, Man machine relation, Modeling, Tactile sensitivity, User interface, Virtual reality.

Abstract

This paper addresses the contact instability of admittance control of a haptic interface. A high level of rigidity of the grasp of a subject operating the haptic interface will result in unstable behavior of the haptic interaction. Experiments with a system dedicated to measuring grasp force were performed to explore the conditions when grasp force has reached the critical grasp force that destabilizes the haptic interface. The critical grasp force was quantified for various values of virtual environment parameters. The experimental results are compared to simulation results obtained with a model of haptic interaction. To improve stability, two methods were applied: one with virtual coupling, the other with a compensator filter. A model was used to define the structure of the compensator filter and to determine the parameters of the virtual coupling and the compensator filter. Experimental and simulation results confirmed an improvement of stability. Both methods allow higher grasp forces of the human operator, and experiments show that the compensator filter allows higher grasp forces than the virtual coupling.

Affiliations:

Slovénie

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Le document en format XML

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	Serveur d'exploration sur les dispositifs haptiques
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Serveur d'exploration sur les dispositifs haptiques

Haptic interaction stability with respect to grasp force

Haptic interaction stability with respect to grasp force

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

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