HapticV1, PascalFrancis, Checkpoint, bibRecord, 000845

Force Control of ER Fluid Based Haptic Device in Virtual Environment

Identifieur interne : 000845 ( PascalFrancis/Checkpoint ); précédent : 000844; suivant : 000846

Force Control of ER Fluid Based Haptic Device in Virtual Environment

Auteurs : Young-Min Han [Corée du Sud] ; Pil-Soon Kang [Corée du Sud] ; Min-Sang Seong [Corée du Sud] ; Seung-Bok Choi [Corée du Sud]

Source :

Proceedings of SPIE - The International Society for Optical Engineering [ 0277-786X ] ; 2007.

RBID : Pascal:08-0487755

Descripteurs français

Pascal (Inist)
- Réalité virtuelle, Fluide électrorhéologique, Boucle réaction, Assemblage mécanique, Fluide viscoélastique, Homme, Compatibilité, Temps réel, Mode glissant, Préimprégné feuille, Pistage, Commande force, Fluide Bingham, Modélisation, Méthode domaine temps, Poursuite.
Wicri :
- topic : Réalité virtuelle, Homme.

English descriptors

KwdEn :
- Bingham plastic, Compatibility, Electrorheological fluid, Feedback, Force control, Joints, Man, Modelling, Real time, Sheet moulding compound, Sliding mode, Time domain method, Tracking, Virtual reality, Viscoelastic fluid.

Abstract

This paper presents force-feedback control performance of a haptic device using a controllable electrorheological (ER) fluid. A spherical type of joint is devised and its torque characteristic is analyzed by considering Bingham property of ER fluid. In order to embody a human organ into virtual space, a volumetric deformable object is adopted. The virtual object is then mathematically formulated by the shape retaining chain linked (S-chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment with the ER haptic device is established by incorporating reflection force and desired position originated from an organ and master, respectively. In order to achieve force trajectories at the haptic device in which the force comes from the virtual space, a sliding mode controller (SMC) is formulated and experimentally realized. Tracking control performances for various operating conditions are presented in time domain, and their tracking errors are evaluated.

Affiliations:

Corée du Sud

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Pascal:08-0487755

Le document en format XML

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<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Bingham plastic</term>
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<term>Man</term>
<term>Modelling</term>
<term>Real time</term>
<term>Sheet moulding compound</term>
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<term>Fluide électrorhéologique</term>
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<front><div type="abstract" xml:lang="en">This paper presents force-feedback control performance of a haptic device using a controllable electrorheological (ER) fluid. A spherical type of joint is devised and its torque characteristic is analyzed by considering Bingham property of ER fluid. In order to embody a human organ into virtual space, a volumetric deformable object is adopted. The virtual object is then mathematically formulated by the shape retaining chain linked (S-chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment with the ER haptic device is established by incorporating reflection force and desired position originated from an organ and master, respectively. In order to achieve force trajectories at the haptic device in which the force comes from the virtual space, a sliding mode controller (SMC) is formulated and experimentally realized. Tracking control performances for various operating conditions are presented in time domain, and their tracking errors are evaluated.</div>
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Force Control of ER Fluid Based Haptic Device in Virtual Environment

Force Control of ER Fluid Based Haptic Device in Virtual Environment

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