Sliding mode friction compensation for a 20 DOF sensor glove
Identifieur interne : 008652 ( Main/Merge ); précédent : 008651; suivant : 008653Sliding 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.
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Pascal:01-0262545Le document en format XML
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<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>
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<term>Système structure variable</term>
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<term>Frottement glissement</term>
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<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>
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<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>
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