Sliding mode friction compensation for a 20 DOF sensor glove
Identifieur interne : 007F60 ( Main/Exploration ); précédent : 007F59; suivant : 007F61Sliding mode friction compensation for a 20 DOF sensor glove
Auteurs : Péter Korondi [Japon] ; Péter T. Szemes [Japon] ; Hideki Hasimoto [Japon]Source :
- Journal of dynamic systems, measurement, and control [ 0022-0434 ] ; 2000.
Descripteurs français
- Pascal (Inist)
- Evaluation performance, Système structure variable, Contrainte frottement, Frottement glissement, Homme, Téléopération, Capteur mesure, Frottement, Observateur, Estimateur, Haute performance, Boucle réaction, Rétroaction, Modélisation, Broutage machine, Mode glissant, Compensateur, Etude expérimentale, Gant, Sensibilité tactile, Degré liberté.
- Wicri :
- topic : Homme, Observateur.
English descriptors
- KwdEn :
- Chatter, Compensator, Estimator, Experimental study, Feedback, Feedback regulation, Freedom degree, Friction, Friction stress, Glove, High performance, Human, Measurement sensor, Modeling, Observer, Performance evaluation, Remote operation, Sliding friction, Sliding mode, Tactile sensitivity, Variable structure system.
Abstract
A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom.
Affiliations:
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Le document en format XML
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Szemes</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Institute of industrial Science, University of Tokyo, 7-22-1, Roppongi</s1><s2>Minato, Tokyo 106</s2><s3>JPN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Japon</country><placeName><settlement type="city">Tokyo</settlement></placeName></affiliation></author><author><name sortKey="Hasimoto, Hideki" sort="Hasimoto, Hideki" uniqKey="Hasimoto H" first="Hideki" last="Hasimoto">Hideki Hasimoto</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Institute of industrial Science, University of Tokyo, 7-22-1, Roppongi</s1><s2>Minato, Tokyo 106</s2><s3>JPN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Japon</country><placeName><settlement type="city">Tokyo</settlement></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">01-0262545</idno><date when="2000">2000</date><idno type="stanalyst">PASCAL 01-0262545 CRAN</idno><idno type="RBID">Pascal:01-0262545</idno><idno type="wicri:Area/PascalFrancis/Corpus">001407</idno><idno type="wicri:Area/PascalFrancis/Curation">000105</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">001191</idno><idno type="wicri:doubleKey">0022-0434:2000:Korondi P:sliding:mode:friction</idno><idno type="wicri:Area/Main/Merge">008652</idno><idno type="wicri:Area/Main/Curation">007F60</idno><idno type="wicri:Area/Main/Exploration">007F60</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Sliding mode friction compensation for a 20 DOF sensor glove</title><author><name sortKey="Korondi, Peter" sort="Korondi, Peter" uniqKey="Korondi P" first="Péter" last="Korondi">Péter Korondi</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Institute of industrial Science, University of Tokyo, 7-22-1, Roppongi</s1><s2>Minato, Tokyo 106</s2><s3>JPN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Japon</country><placeName><settlement type="city">Tokyo</settlement></placeName></affiliation></author><author><name sortKey="Szemes, Peter T" sort="Szemes, Peter T" uniqKey="Szemes P" first="Péter T." last="Szemes">Péter T. Szemes</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Institute of industrial Science, University of Tokyo, 7-22-1, Roppongi</s1><s2>Minato, Tokyo 106</s2><s3>JPN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Japon</country><placeName><settlement type="city">Tokyo</settlement></placeName></affiliation></author><author><name sortKey="Hasimoto, Hideki" sort="Hasimoto, Hideki" uniqKey="Hasimoto H" first="Hideki" last="Hasimoto">Hideki Hasimoto</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Institute of industrial Science, University of Tokyo, 7-22-1, Roppongi</s1><s2>Minato, Tokyo 106</s2><s3>JPN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Japon</country><placeName><settlement type="city">Tokyo</settlement></placeName></affiliation></author></analytic><series><title level="j" type="main">Journal of dynamic systems, measurement, and control</title><title level="j" type="abbreviated">J. dyn. syst. meas. control</title><idno type="ISSN">0022-0434</idno><imprint><date when="2000">2000</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Journal of dynamic systems, measurement, and control</title><title level="j" type="abbreviated">J. dyn. syst. meas. control</title><idno type="ISSN">0022-0434</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Chatter</term><term>Compensator</term><term>Estimator</term><term>Experimental study</term><term>Feedback</term><term>Feedback regulation</term><term>Freedom degree</term><term>Friction</term><term>Friction stress</term><term>Glove</term><term>High performance</term><term>Human</term><term>Measurement sensor</term><term>Modeling</term><term>Observer</term><term>Performance evaluation</term><term>Remote operation</term><term>Sliding friction</term><term>Sliding mode</term><term>Tactile sensitivity</term><term>Variable structure system</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Evaluation performance</term><term>Système structure variable</term><term>Contrainte frottement</term><term>Frottement glissement</term><term>Homme</term><term>Téléopération</term><term>Capteur mesure</term><term>Frottement</term><term>Observateur</term><term>Estimateur</term><term>Haute performance</term><term>Boucle réaction</term><term>Rétroaction</term><term>Modélisation</term><term>Broutage machine</term><term>Mode glissant</term><term>Compensateur</term><term>Etude expérimentale</term><term>Gant</term><term>Sensibilité tactile</term><term>Degré liberté</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Homme</term><term>Observateur</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom.</div></front></TEI><affiliations><list><country><li>Japon</li></country><settlement><li>Tokyo</li></settlement></list><tree><country name="Japon"><noRegion><name sortKey="Korondi, Peter" sort="Korondi, Peter" uniqKey="Korondi P" first="Péter" last="Korondi">Péter Korondi</name></noRegion><name sortKey="Hasimoto, Hideki" sort="Hasimoto, Hideki" uniqKey="Hasimoto H" first="Hideki" last="Hasimoto">Hideki Hasimoto</name><name sortKey="Szemes, Peter T" sort="Szemes, Peter T" uniqKey="Szemes P" first="Péter T." last="Szemes">Péter T. Szemes</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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