Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward
Identifieur interne : 004918 ( Main/Curation ); précédent : 004917; suivant : 004919Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward
Auteurs : Jorge Juan Gil [Espagne] ; Angel Rubio [Espagne] ; Joan Savall [Espagne]Source :
- IEEE transactions on control systems technology [ 1063-6536 ] ; 2009.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Homme.
English descriptors
- KwdEn :
Abstract
When using a haptic device in unconstrained movement, the user should experience only minor inertia. For certain tasks, the workspace of the device should be similar or even larger than that of the human arm. This condition tends to lead to large devices that often present high rather than low inertia. This brief describes a method to decrease the inertia felt by users of impedance haptic devices. It has been successfully implemented in the LHIfAM haptic device. The effect that this strategy has on stability and virtual contact is also illustrated.
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: Pour aller vers cette notice dans l'étape Curation :000731
- to stream PascalFrancis, to step Curation: Pour aller vers cette notice dans l'étape Curation :000D02
- to stream PascalFrancis, to step Checkpoint: Pour aller vers cette notice dans l'étape Curation :000611
- to stream Main, to step Merge: Pour aller vers cette notice dans l'étape Curation :004A04
Links to Exploration step
Pascal:09-0472846Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward</title><author><name sortKey="Juan Gil, Jorge" sort="Juan Gil, Jorge" uniqKey="Juan Gil J" first="Jorge" last="Juan Gil">Jorge Juan Gil</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Applied Mechanics Department, CEIT and TECNUN, University of Navarra</s1><s2>20018 San Sebastián</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author><author><name sortKey="Rubio, Angel" sort="Rubio, Angel" uniqKey="Rubio A" first="Angel" last="Rubio">Angel Rubio</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Applied Mechanics Department, CEIT and TECNUN, University of Navarra</s1><s2>20018 San Sebastián</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author><author><name sortKey="Savall, Joan" sort="Savall, Joan" uniqKey="Savall J" first="Joan" last="Savall">Joan Savall</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Applied Mechanics Department, CEIT and TECNUN, University of Navarra</s1><s2>20018 San Sebastián</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">09-0472846</idno><date when="2009">2009</date><idno type="stanalyst">PASCAL 09-0472846 INIST</idno><idno type="RBID">Pascal:09-0472846</idno><idno type="wicri:Area/PascalFrancis/Corpus">000731</idno><idno type="wicri:Area/PascalFrancis/Curation">000D02</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000611</idno><idno type="wicri:doubleKey">1063-6536:2009:Juan Gil J:decreasing:the:apparent</idno><idno type="wicri:Area/Main/Merge">004A04</idno><idno type="wicri:Area/Main/Curation">004918</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward</title><author><name sortKey="Juan Gil, Jorge" sort="Juan Gil, Jorge" uniqKey="Juan Gil J" first="Jorge" last="Juan Gil">Jorge Juan Gil</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Applied Mechanics Department, CEIT and TECNUN, University of Navarra</s1><s2>20018 San Sebastián</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author><author><name sortKey="Rubio, Angel" sort="Rubio, Angel" uniqKey="Rubio A" first="Angel" last="Rubio">Angel Rubio</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Applied Mechanics Department, CEIT and TECNUN, University of Navarra</s1><s2>20018 San Sebastián</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author><author><name sortKey="Savall, Joan" sort="Savall, Joan" uniqKey="Savall J" first="Joan" last="Savall">Joan Savall</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Applied Mechanics Department, CEIT and TECNUN, University of Navarra</s1><s2>20018 San Sebastián</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author></analytic><series><title level="j" type="main">IEEE transactions on control systems technology</title><title level="j" type="abbreviated">IEEE trans. control syst. technol.</title><idno type="ISSN">1063-6536</idno><imprint><date when="2009">2009</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">IEEE transactions on control systems technology</title><title level="j" type="abbreviated">IEEE trans. control syst. technol.</title><idno type="ISSN">1063-6536</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Arm</term><term>Discrete time</term><term>Feedforward</term><term>Human</term><term>Human factor</term><term>Inertia</term><term>Tactile sensitivity</term><term>User behavior</term><term>Workspace</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Boucle anticipation</term><term>Homme</term><term>Temps discret</term><term>Inertie</term><term>Sensibilité tactile</term><term>Comportement utilisateur</term><term>Domaine travail</term><term>Bras</term><term>Facteur humain</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Homme</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">When using a haptic device in unconstrained movement, the user should experience only minor inertia. For certain tasks, the workspace of the device should be similar or even larger than that of the human arm. This condition tends to lead to large devices that often present high rather than low inertia. This brief describes a method to decrease the inertia felt by users of impedance haptic devices. It has been successfully implemented in the LHIfAM haptic device. The effect that this strategy has on stability and virtual contact is also illustrated.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 004918 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Curation/biblio.hfd -nk 004918 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Curation
|type= RBID
|clé= Pascal:09-0472846
|texte= Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward
}}
| This area was generated with Dilib version V0.6.23. |  |