Haptic experimentation on a hybrid active/passive force feedback device
Identifieur interne : 007924 ( Main/Merge ); précédent : 007923; suivant : 007925Haptic experimentation on a hybrid active/passive force feedback device
Auteurs : Jinung An [Corée du Sud] ; Dong-Soo Kwon [Corée du Sud]Source :
- Proceedings - IEEE International Conference on Robotics and Automation [ 1050-4729 ] ; 2002.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique, Réalité virtuelle.
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Abstract
This paper describes the design and implementation of a hybrid active/passive force feedback device. It has a single degree of freedom that is actuated by a motor and a brake pair. The use of a motor and a brake allows various objects to be simulated without a stability problem and related safety issues involved with using high torque motors only. The device performance is measured by its ability to simulate various test objects. Simple test objects are modeled as a benchmark test of the system's performance. The force feedback device is capable of simulating forces in a variety of virtual environments. This device demonstrates the effectiveness of a hybrid active/passive haptic actuator. An analysis of the use of hybrid active/passive actuators in the 2 degrees of freedom case finds that they are capable of simulating a rigid body in a broad range.
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Pascal:04-0202097Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Haptic experimentation on a hybrid active/passive force feedback device</title><author><name sortKey="An, Jinung" sort="An, Jinung" uniqKey="An J" first="Jinung" last="An">Jinung An</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, KAIST</s1><s2>Yusong Ku, Taejon, 305-701</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Yusong Ku, Taejon, 305-701</wicri:noRegion></affiliation></author><author><name sortKey="Kwon, Dong Soo" sort="Kwon, Dong Soo" uniqKey="Kwon D" first="Dong-Soo" last="Kwon">Dong-Soo Kwon</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, KAIST</s1><s2>Yusong Ku, Taejon, 305-701</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Yusong Ku, Taejon, 305-701</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">04-0202097</idno><date when="2002">2002</date><idno type="stanalyst">PASCAL 04-0202097 INIST</idno><idno type="RBID">Pascal:04-0202097</idno><idno type="wicri:Area/PascalFrancis/Corpus">001044</idno><idno type="wicri:Area/PascalFrancis/Curation">000465</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000F84</idno><idno type="wicri:doubleKey">1050-4729:2002:An J:haptic:experimentation:on</idno><idno type="wicri:Area/Main/Merge">007924</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Haptic experimentation on a hybrid active/passive force feedback device</title><author><name sortKey="An, Jinung" sort="An, Jinung" uniqKey="An J" first="Jinung" last="An">Jinung An</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, KAIST</s1><s2>Yusong Ku, Taejon, 305-701</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Yusong Ku, Taejon, 305-701</wicri:noRegion></affiliation></author><author><name sortKey="Kwon, Dong Soo" sort="Kwon, Dong Soo" uniqKey="Kwon D" first="Dong-Soo" last="Kwon">Dong-Soo Kwon</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, KAIST</s1><s2>Yusong Ku, Taejon, 305-701</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Yusong Ku, Taejon, 305-701</wicri:noRegion></affiliation></author></analytic><series><title level="j" type="main">Proceedings - IEEE International Conference on Robotics and Automation</title><idno type="ISSN">1050-4729</idno><imprint><date when="2002">2002</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Proceedings - IEEE International Conference on Robotics and Automation</title><idno type="ISSN">1050-4729</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Actuator</term><term>Benchmarks</term><term>Brake</term><term>Feedback regulation</term><term>Implementation</term><term>Modeling</term><term>Motor torque</term><term>Rigid bodies</term><term>Robotics</term><term>Solid body</term><term>Stability</term><term>Tactile sensitivity</term><term>Torque motors</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term><term>Rétroaction</term><term>Stabilité</term><term>Sensibilité tactile</term><term>Implémentation</term><term>Frein</term><term>Moteur couple</term><term>Couple moteur</term><term>Benchmark</term><term>Réalité virtuelle</term><term>Actionneur</term><term>Corps rigide</term><term>Corps solide</term><term>Modélisation</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term><term>Réalité virtuelle</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper describes the design and implementation of a hybrid active/passive force feedback device. It has a single degree of freedom that is actuated by a motor and a brake pair. The use of a motor and a brake allows various objects to be simulated without a stability problem and related safety issues involved with using high torque motors only. The device performance is measured by its ability to simulate various test objects. Simple test objects are modeled as a benchmark test of the system's performance. The force feedback device is capable of simulating forces in a variety of virtual environments. This device demonstrates the effectiveness of a hybrid active/passive haptic actuator. An analysis of the use of hybrid active/passive actuators in the 2 degrees of freedom case finds that they are capable of simulating a rigid body in a broad range.</div></front></TEI><affiliations><list><country><li>Corée du Sud</li></country></list><tree><country name="Corée du Sud"><noRegion><name sortKey="An, Jinung" sort="An, Jinung" uniqKey="An J" first="Jinung" last="An">Jinung An</name></noRegion><name sortKey="Kwon, Dong Soo" sort="Kwon, Dong Soo" uniqKey="Kwon D" first="Dong-Soo" last="Kwon">Dong-Soo Kwon</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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