Dynamics modeling for parallel haptic interfaces with force sensing and control.
Identifieur interne : 000649 ( PubMed/Corpus ); précédent : 000648; suivant : 000650Dynamics modeling for parallel haptic interfaces with force sensing and control.
Auteurs : Nicholas Bernstein ; Dale Lawrence ; Lucy PaoSource :
- IEEE transactions on haptics [ 2329-4051 ]
English descriptors
- KwdEn :
- MESH :
- instrumentation : Equipment Design.
- methods : Robotics.
- physiology : Hand, Touch.
- Humans, Models, Theoretical, Perception, User-Computer Interface.
Abstract
Closed-loop force control can be used on haptic interfaces (HIs) to mitigate the effects of mechanism dynamics. A single multidimensional force-torque sensor is often employed to measure the interaction force between the haptic device and the user's hand. The parallel haptic interface at the University of Colorado (CU) instead employs smaller 1D force sensors oriented along each of the five actuating rods to build up a 5D force vector. This paper shows that a particular manipulandum/hand partition in the system dynamics is induced by the placement and type of force sensing, and discusses the implications on force and impedance control for parallel haptic interfaces. The details of a "squaring down" process are also discussed, showing how to obtain reduced degree-of-freedom models from the general six degree-of-freedom dynamics formulation.
DOI: 10.1109/TOH.2013.3
PubMed: 24808395
Links to Exploration step
pubmed:24808395Le document en format XML
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A single multidimensional force-torque sensor is often employed to measure the interaction force between the haptic device and the user's hand. The parallel haptic interface at the University of Colorado (CU) instead employs smaller 1D force sensors oriented along each of the five actuating rods to build up a 5D force vector. This paper shows that a particular manipulandum/hand partition in the system dynamics is induced by the placement and type of force sensing, and discusses the implications on force and impedance control for parallel haptic interfaces. The details of a "squaring down" process are also discussed, showing how to obtain reduced degree-of-freedom models from the general six degree-of-freedom dynamics formulation.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">24808395</PMID><DateCreated><Year>2014</Year><Month>05</Month><Day>08</Day></DateCreated><DateCompleted><Year>2015</Year><Month>12</Month><Day>21</Day></DateCompleted><Article PubModel="Print"><Journal><ISSN IssnType="Electronic">2329-4051</ISSN><JournalIssue CitedMedium="Internet"><Volume>6</Volume><Issue>4</Issue><PubDate><MedlineDate>2013 Oct-Dec</MedlineDate></PubDate></JournalIssue><Title>IEEE transactions on haptics</Title><ISOAbbreviation>IEEE Trans Haptics</ISOAbbreviation></Journal><ArticleTitle>Dynamics modeling for parallel haptic interfaces with force sensing and control.</ArticleTitle><Pagination><MedlinePgn>429-39</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1109/TOH.2013.3</ELocationID><Abstract><AbstractText>Closed-loop force control can be used on haptic interfaces (HIs) to mitigate the effects of mechanism dynamics. A single multidimensional force-torque sensor is often employed to measure the interaction force between the haptic device and the user's hand. The parallel haptic interface at the University of Colorado (CU) instead employs smaller 1D force sensors oriented along each of the five actuating rods to build up a 5D force vector. This paper shows that a particular manipulandum/hand partition in the system dynamics is induced by the placement and type of force sensing, and discusses the implications on force and impedance control for parallel haptic interfaces. 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