HapticV1, Main, Exploration, bibRecord, 001583

Design of a smart haptic system for repulsive force control under irregular manipulation environment

Identifieur interne : 001583 ( Main/Exploration ); précédent : 001582; suivant : 001584

Design of a smart haptic system for repulsive force control under irregular manipulation environment

Auteurs : Sang-Rock Lee [Corée du Sud] ; Seung-Hyun Choi [Corée du Sud] ; Seung-Bok Choi [Corée du Sud] ; Myeong-Woo Cho [Corée du Sud]

Source :

Smart materials and structures [ 0964-1726 ] ; 2014.

RBID : Pascal:15-0026554

Descripteurs français

Pascal (Inist)
- Commande force, Interaction répulsion, Temps réel, Réponse temporelle, Actionneur, Système intelligent, Interface haptique.

English descriptors

KwdEn :
- Actuators, Force control, Haptic interfaces, Intelligent system, Real time, Repulsion interaction, Time response.

Abstract

This paper describes how to make an operator feel the desired repulsive force in a haptic system. When an operator manipulates a haptic system, the repulsive force of the operator varies significantly, depending on many factors such as position, velocity and force. In order to reflect the desired repulsive force to the operator, it is commonly known that a haptic system must compensate for irregularly changing forces. The irregularity of the forces, however, has discouraged many researchers from establishing a clear principle on how to make the operator feel the desired repulsive force. To resolve this problem, we introduce a smart haptic framework that can reflect the desired repulsive force to the operator, regardless of the operator's movement. A dummy governing equation technique is introduced and used to calculate the proper actuating force in real time. The actuating force is generated by a PID controller. To verify the proposed method, a mathematical proof is offered to show that the repulsive force converges to the desired repulsive force. Additionally, to demonstrate the performance of the proposed method, simulational and experimental tests are implemented.

Affiliations:

Corée du Sud

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

to stream PascalFrancis, to step Corpus: 000004
to stream PascalFrancis, to step Curation: 001253
to stream PascalFrancis, to step Checkpoint: 000063
to stream Main, to step Merge: 001589
to stream Main, to step Curation: 001583

Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper describes how to make an operator feel the desired repulsive force in a haptic system. When an operator manipulates a haptic system, the repulsive force of the operator varies significantly, depending on many factors such as position, velocity and force. In order to reflect the desired repulsive force to the operator, it is commonly known that a haptic system must compensate for irregularly changing forces. The irregularity of the forces, however, has discouraged many researchers from establishing a clear principle on how to make the operator feel the desired repulsive force. To resolve this problem, we introduce a smart haptic framework that can reflect the desired repulsive force to the operator, regardless of the operator's movement. A dummy governing equation technique is introduced and used to calculate the proper actuating force in real time. The actuating force is generated by a PID controller. To verify the proposed method, a mathematical proof is offered to show that the repulsive force converges to the desired repulsive force. Additionally, to demonstrate the performance of the proposed method, simulational and experimental tests are implemented.</div>
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Design of a smart haptic system for repulsive force control under irregular manipulation environment

Design of a smart haptic system for repulsive force control under irregular manipulation environment

Source :

Descripteurs français

English descriptors

Abstract

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

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri