Force Control of ER Fluid Based Haptic Device in Virtual Environment
Identifieur interne :
000892 ( PascalFrancis/Corpus );
précédent :
000891;
suivant :
000893
Force Control of ER Fluid Based Haptic Device in Virtual Environment
Auteurs : Young-Min Han ;
Pil-Soon Kang ;
Min-Sang Seong ;
Seung-Bok ChoiSource :
-
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.
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.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
| pA |
| A01 | 01 | 1 | | @0 0277-786X |
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| A05 | | | | @2 6525 |
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| A08 | 01 | 1 | ENG | @1 Force Control of ER Fluid Based Haptic Device in Virtual Environment |
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| A09 | 01 | 1 | ENG | @1 Active and passive smart structures and integrated systems 2007 : 19-22 March, 2007, San Diego, California, USA |
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| A11 | 01 | 1 | | @1 HAN (Young-Min) |
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| A11 | 02 | 1 | | @1 KANG (Pil-Soon) |
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| A11 | 03 | 1 | | @1 SEONG (Min-Sang) |
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| A11 | 04 | 1 | | @1 CHOI (Seung-Bok) |
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| A12 | 01 | 1 | | @1 MATSUZAKI (Yuji) @9 ed. |
|---|
| A12 | 02 | 1 | | @1 AHMADIAN (Mehdi) @9 ed. |
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| A12 | 03 | 1 | | @1 LEO (Donald J.) @9 ed. |
|---|
| A14 | 01 | | | @1 Smart Structures and Systems Laboratory, Department of Mechanical Engineering Inha University @2 Incheon 402-721 @3 KOR @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 4 aut. |
|---|
| A18 | 01 | 1 | | @1 Society of photo-optical instrumentation engineers @3 USA @9 org-cong. |
|---|
| A20 | | | | @2 65250Q.1-65250Q.9 |
|---|
| A21 | | | | @1 2007 |
|---|
| A23 | 01 | | | @0 ENG |
|---|
| A26 | 01 | | | @0 978-0-8194-6646-4 |
|---|
| A43 | 01 | | | @1 INIST @2 21760 @5 354000172859910220 |
|---|
| A44 | | | | @0 0000 @1 © 2008 INIST-CNRS. All rights reserved. |
|---|
| A45 | | | | @0 15 ref. |
|---|
| A47 | 01 | 1 | | @0 08-0487755 |
|---|
| A60 | | | | @1 P @2 C |
|---|
| A61 | | | | @0 A |
|---|
| A64 | 01 | 1 | | @0 Proceedings of SPIE - The International Society for Optical Engineering |
|---|
| A66 | 01 | | | @0 USA |
|---|
| C01 | 01 | | ENG | @0 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. |
|---|
| C02 | 01 | 3 | | @0 001B80C80G |
|---|
| C03 | 01 | 3 | FRE | @0 Réalité virtuelle @5 06 |
|---|
| C03 | 01 | 3 | ENG | @0 Virtual reality @5 06 |
|---|
| C03 | 02 | X | FRE | @0 Fluide électrorhéologique @5 20 |
|---|
| C03 | 02 | X | ENG | @0 Electrorheological fluid @5 20 |
|---|
| C03 | 02 | X | SPA | @0 Fluido electroreologico @5 20 |
|---|
| C03 | 03 | 3 | FRE | @0 Boucle réaction @5 21 |
|---|
| C03 | 03 | 3 | ENG | @0 Feedback @5 21 |
|---|
| C03 | 04 | 3 | FRE | @0 Assemblage mécanique @5 22 |
|---|
| C03 | 04 | 3 | ENG | @0 Joints @5 22 |
|---|
| C03 | 05 | X | FRE | @0 Fluide viscoélastique @5 23 |
|---|
| C03 | 05 | X | ENG | @0 Viscoelastic fluid @5 23 |
|---|
| C03 | 05 | X | SPA | @0 Fluido viscoelástico @5 23 |
|---|
| C03 | 06 | 3 | FRE | @0 Homme @5 24 |
|---|
| C03 | 06 | 3 | ENG | @0 Man @5 24 |
|---|
| C03 | 07 | 3 | FRE | @0 Compatibilité @5 25 |
|---|
| C03 | 07 | 3 | ENG | @0 Compatibility @5 25 |
|---|
| C03 | 08 | X | FRE | @0 Temps réel @5 26 |
|---|
| C03 | 08 | X | ENG | @0 Real time @5 26 |
|---|
| C03 | 08 | X | SPA | @0 Tiempo real @5 26 |
|---|
| C03 | 09 | X | FRE | @0 Mode glissant @5 27 |
|---|
| C03 | 09 | X | ENG | @0 Sliding mode @5 27 |
|---|
| C03 | 09 | X | SPA | @0 Modo deslizante @5 27 |
|---|
| C03 | 10 | X | FRE | @0 Préimprégné feuille @5 28 |
|---|
| C03 | 10 | X | ENG | @0 Sheet moulding compound @5 28 |
|---|
| C03 | 10 | X | SPA | @0 Preimpregnado hoja @5 28 |
|---|
| C03 | 11 | X | FRE | @0 Pistage @5 29 |
|---|
| C03 | 11 | X | ENG | @0 Tracking @5 29 |
|---|
| C03 | 11 | X | SPA | @0 Rastreo @5 29 |
|---|
| C03 | 12 | 3 | FRE | @0 Commande force @5 30 |
|---|
| C03 | 12 | 3 | ENG | @0 Force control @5 30 |
|---|
| C03 | 13 | X | FRE | @0 Fluide Bingham @5 31 |
|---|
| C03 | 13 | X | ENG | @0 Bingham plastic @5 31 |
|---|
| C03 | 13 | X | SPA | @0 Fluido Bingham @5 31 |
|---|
| C03 | 14 | 3 | FRE | @0 Modélisation @5 32 |
|---|
| C03 | 14 | 3 | ENG | @0 Modelling @5 32 |
|---|
| C03 | 15 | X | FRE | @0 Méthode domaine temps @5 33 |
|---|
| C03 | 15 | X | ENG | @0 Time domain method @5 33 |
|---|
| C03 | 15 | X | SPA | @0 Método dominio tiempo @5 33 |
|---|
| C03 | 16 | 3 | FRE | @0 Poursuite @5 41 |
|---|
| C03 | 16 | 3 | ENG | @0 Tracking @5 41 |
|---|
| N21 | | | | @1 316 |
|---|
| N44 | 01 | | | @1 OTO |
|---|
| N82 | | | | @1 OTO |
|---|
|
|---|
| pR |
| A30 | 01 | 1 | ENG | @1 Active and passive smart structures and integrated systems @3 San Diego CA USA @4 2007 |
|---|
|
|---|
Format Inist (serveur)
| NO : | PASCAL 08-0487755 INIST |
|---|
| ET : | Force Control of ER Fluid Based Haptic Device in Virtual Environment |
|---|
| AU : | HAN (Young-Min); KANG (Pil-Soon); SEONG (Min-Sang); CHOI (Seung-Bok); MATSUZAKI (Yuji); AHMADIAN (Mehdi); LEO (Donald J.) |
|---|
| AF : | Smart Structures and Systems Laboratory, Department of Mechanical Engineering Inha University/Incheon 402-721/Corée, République de (1 aut., 2 aut., 3 aut., 4 aut.) |
|---|
| DT : | Publication en série; Congrès; Niveau analytique |
|---|
| SO : | Proceedings of SPIE - The International Society for Optical Engineering; ISSN 0277-786X; Etats-Unis; Da. 2007; Vol. 6525; 65250Q.1-65250Q.9; Bibl. 15 ref. |
|---|
| LA : | Anglais |
|---|
| EA : | 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. |
|---|
| CC : | 001B80C80G |
|---|
| FD : | 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 |
|---|
| ED : | Virtual reality; Electrorheological fluid; Feedback; Joints; Viscoelastic fluid; Man; Compatibility; Real time; Sliding mode; Sheet moulding compound; Tracking; Force control; Bingham plastic; Modelling; Time domain method; Tracking |
|---|
| SD : | Fluido electroreologico; Fluido viscoelástico; Tiempo real; Modo deslizante; Preimpregnado hoja; Rastreo; Fluido Bingham; Método dominio tiempo |
|---|
| LO : | INIST-21760.354000172859910220 |
|---|
| ID : | 08-0487755 |
|---|
Links to Exploration step
Pascal:08-0487755
Le document en format XML
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</inist:fA14><series><title level="j" type="main">Proceedings of SPIE - The International Society for Optical Engineering</title>
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</imprint><seriesStmt><title level="j" type="main">Proceedings of SPIE - The International Society for Optical Engineering</title>
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</seriesStmt><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Bingham plastic</term>
<term>Compatibility</term>
<term>Electrorheological fluid</term>
<term>Feedback</term>
<term>Force control</term>
<term>Joints</term>
<term>Man</term>
<term>Modelling</term>
<term>Real time</term>
<term>Sheet moulding compound</term>
<term>Sliding mode</term>
<term>Time domain method</term>
<term>Tracking</term>
<term>Virtual reality</term>
<term>Viscoelastic fluid</term>
</keywords><keywords scheme="Pascal" xml:lang="fr"><term>Réalité virtuelle</term>
<term>Fluide électrorhéologique</term>
<term>Boucle réaction</term>
<term>Assemblage mécanique</term>
<term>Fluide viscoélastique</term>
<term>Homme</term>
<term>Compatibilité</term>
<term>Temps réel</term>
<term>Mode glissant</term>
<term>Préimprégné feuille</term>
<term>Pistage</term>
<term>Commande force</term>
<term>Fluide Bingham</term>
<term>Modélisation</term>
<term>Méthode domaine temps</term>
<term>Poursuite</term>
</keywords><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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</fA11><fA11 i1="02" i2="1"><s1>KANG (Pil-Soon)</s1>
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</fA66><fC01 i1="01" l="ENG"><s0>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.</s0>
</fC01><fC02 i1="01" i2="3"><s0>001B80C80G</s0>
</fC02><fC03 i1="01" i2="3" l="FRE"><s0>Réalité virtuelle</s0>
<s5>06</s5>
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<s5>06</s5>
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<s5>20</s5>
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<s5>21</s5>
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<s5>21</s5>
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<s5>22</s5>
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<s5>22</s5>
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<s5>23</s5>
</fC03><fC03 i1="05" i2="X" l="ENG"><s0>Viscoelastic fluid</s0>
<s5>23</s5>
</fC03><fC03 i1="05" i2="X" l="SPA"><s0>Fluido viscoelástico</s0>
<s5>23</s5>
</fC03><fC03 i1="06" i2="3" l="FRE"><s0>Homme</s0>
<s5>24</s5>
</fC03><fC03 i1="06" i2="3" l="ENG"><s0>Man</s0>
<s5>24</s5>
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<s5>25</s5>
</fC03><fC03 i1="07" i2="3" l="ENG"><s0>Compatibility</s0>
<s5>25</s5>
</fC03><fC03 i1="08" i2="X" l="FRE"><s0>Temps réel</s0>
<s5>26</s5>
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<s5>26</s5>
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<s5>26</s5>
</fC03><fC03 i1="09" i2="X" l="FRE"><s0>Mode glissant</s0>
<s5>27</s5>
</fC03><fC03 i1="09" i2="X" l="ENG"><s0>Sliding mode</s0>
<s5>27</s5>
</fC03><fC03 i1="09" i2="X" l="SPA"><s0>Modo deslizante</s0>
<s5>27</s5>
</fC03><fC03 i1="10" i2="X" l="FRE"><s0>Préimprégné feuille</s0>
<s5>28</s5>
</fC03><fC03 i1="10" i2="X" l="ENG"><s0>Sheet moulding compound</s0>
<s5>28</s5>
</fC03><fC03 i1="10" i2="X" l="SPA"><s0>Preimpregnado hoja</s0>
<s5>28</s5>
</fC03><fC03 i1="11" i2="X" l="FRE"><s0>Pistage</s0>
<s5>29</s5>
</fC03><fC03 i1="11" i2="X" l="ENG"><s0>Tracking</s0>
<s5>29</s5>
</fC03><fC03 i1="11" i2="X" l="SPA"><s0>Rastreo</s0>
<s5>29</s5>
</fC03><fC03 i1="12" i2="3" l="FRE"><s0>Commande force</s0>
<s5>30</s5>
</fC03><fC03 i1="12" i2="3" l="ENG"><s0>Force control</s0>
<s5>30</s5>
</fC03><fC03 i1="13" i2="X" l="FRE"><s0>Fluide Bingham</s0>
<s5>31</s5>
</fC03><fC03 i1="13" i2="X" l="ENG"><s0>Bingham plastic</s0>
<s5>31</s5>
</fC03><fC03 i1="13" i2="X" l="SPA"><s0>Fluido Bingham</s0>
<s5>31</s5>
</fC03><fC03 i1="14" i2="3" l="FRE"><s0>Modélisation</s0>
<s5>32</s5>
</fC03><fC03 i1="14" i2="3" l="ENG"><s0>Modelling</s0>
<s5>32</s5>
</fC03><fC03 i1="15" i2="X" l="FRE"><s0>Méthode domaine temps</s0>
<s5>33</s5>
</fC03><fC03 i1="15" i2="X" l="ENG"><s0>Time domain method</s0>
<s5>33</s5>
</fC03><fC03 i1="15" i2="X" l="SPA"><s0>Método dominio tiempo</s0>
<s5>33</s5>
</fC03><fC03 i1="16" i2="3" l="FRE"><s0>Poursuite</s0>
<s5>41</s5>
</fC03><fC03 i1="16" i2="3" l="ENG"><s0>Tracking</s0>
<s5>41</s5>
</fC03><fN21><s1>316</s1>
</fN21><fN44 i1="01"><s1>OTO</s1>
</fN44><fN82><s1>OTO</s1>
</fN82><pR><fA30 i1="01" i2="1" l="ENG"><s1>Active and passive smart structures and integrated systems</s1>
<s3>San Diego CA USA</s3>
<s4>2007</s4>
</fA30><server><NO>PASCAL 08-0487755 INIST</NO>
<ET>Force Control of ER Fluid Based Haptic Device in Virtual Environment</ET>
<AU>HAN (Young-Min); KANG (Pil-Soon); SEONG (Min-Sang); CHOI (Seung-Bok); MATSUZAKI (Yuji); AHMADIAN (Mehdi); LEO (Donald J.)</AU>
<AF>Smart Structures and Systems Laboratory, Department of Mechanical Engineering Inha University/Incheon 402-721/Corée, République de (1 aut., 2 aut., 3 aut., 4 aut.)</AF>
<DT>Publication en série; Congrès; Niveau analytique</DT>
<SO>Proceedings of SPIE - The International Society for Optical Engineering; ISSN 0277-786X; Etats-Unis; Da. 2007; Vol. 6525; 65250Q.1-65250Q.9; Bibl. 15 ref.</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001B80C80G</CC>
<FD>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</FD>
<ED>Virtual reality; Electrorheological fluid; Feedback; Joints; Viscoelastic fluid; Man; Compatibility; Real time; Sliding mode; Sheet moulding compound; Tracking; Force control; Bingham plastic; Modelling; Time domain method; Tracking</ED>
<SD>Fluido electroreologico; Fluido viscoelástico; Tiempo real; Modo deslizante; Preimpregnado hoja; Rastreo; Fluido Bingham; Método dominio tiempo</SD>
<LO>INIST-21760.354000172859910220</LO>
<ID>08-0487755</ID>
</server>
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