HapticV1, PascalFrancis, Checkpoint, bibRecord, 000062

Development and investigation of a semi-active polar planar haptic interface using the digital resistance map concept

Identifieur interne : 000062 ( PascalFrancis/Checkpoint ); précédent : 000061; suivant : 000063

Development and investigation of a semi-active polar planar haptic interface using the digital resistance map concept

Auteurs : Ehsan Asadi [Canada] ; Siamak Arzanpour [Canada]

Source :

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

RBID : Pascal:14-0132749

Descripteurs français

Pascal (Inist)
- Interface plane, Modélisation, Implémentation, Mesure force, Amortisseur, Algorithme, Application, Chirurgie, Fluide magnétorhéologique, Interface haptique, Système commande.
Wicri :
- topic : Chirurgie.

English descriptors

KwdEn :
- Algorithms, Application, Control systems, Dampers, Force measurement, Haptic interfaces, Implementation, Magnetorheological fluid, Modelling, Planar interface, Surgery.

Abstract

The growing demand for haptic technologies in recent years has motivated novel approaches in developing haptic interfaces and control algorithms. Semi-active haptic interfaces, in general, have the advantage of addressing safety concerns which adversely affect their active counterparts. This paper presents the development of a planar semi-active haptic interface using magnetorheological (MR) dampers. The ability of MR dampers to produce controllable resistance forces is the key reason for their utilization in the proposed haptic interface. The proposed planar semi-active haptic interface consists of linear and rotary MR dampers. Each of the MR dampers is modeled experimentally using the Bouc-Wen model. A haptic rendering algorithm called the digital resistance map (DRM) is also developed to control MR dampers. DRM is a high-fidelity haptic rendering algorithm, and proved to be effective to create comprehensive force feedback for operators. MATLAB/Simulink® is used for implementing several DRM scenarios for generating haptic enabled virtual environments. The experimental results demonstrate the effectiveness of the proposed haptic interface and rendering algorithm.

Affiliations:

Canada

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

to stream PascalFrancis, to step Corpus: 000072
to stream PascalFrancis, to step Curation: 001189

Links to Exploration step

Pascal:14-0132749

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Development and investigation of a semi-active polar planar haptic interface using the digital resistance map concept</title>
<author><name sortKey="Asadi, Ehsan" sort="Asadi, Ehsan" uniqKey="Asadi E" first="Ehsan" last="Asadi">Ehsan Asadi</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical and Mechatronic Engineering, University of Waterloo, 200 University Avenue W</s1>
<s2>Waterloo, ON, N2L 3G1</s2>
<s3>CAN</s3>
<sZ>1 aut.</sZ>
</inist:fA14>
<country>Canada</country>
<wicri:noRegion>Waterloo, ON, N2L 3G1</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Arzanpour, Siamak" sort="Arzanpour, Siamak" uniqKey="Arzanpour S" first="Siamak" last="Arzanpour">Siamak Arzanpour</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Department of Mechatronic Engineering Systems, Simon Fraser University</s1>
<s2>Surrey, BC, V3T OA3</s2>
<s3>CAN</s3>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>Canada</country>
<wicri:noRegion>Surrey, BC, V3T OA3</wicri:noRegion>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">14-0132749</idno>
<date when="2014">2014</date>
<idno type="stanalyst">PASCAL 14-0132749 INIST</idno>
<idno type="RBID">Pascal:14-0132749</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">000072</idno>
<idno type="wicri:Area/PascalFrancis/Curation">001189</idno>
<idno type="wicri:Area/PascalFrancis/Checkpoint">000062</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Development and investigation of a semi-active polar planar haptic interface using the digital resistance map concept</title>
<author><name sortKey="Asadi, Ehsan" sort="Asadi, Ehsan" uniqKey="Asadi E" first="Ehsan" last="Asadi">Ehsan Asadi</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical and Mechatronic Engineering, University of Waterloo, 200 University Avenue W</s1>
<s2>Waterloo, ON, N2L 3G1</s2>
<s3>CAN</s3>
<sZ>1 aut.</sZ>
</inist:fA14>
<country>Canada</country>
<wicri:noRegion>Waterloo, ON, N2L 3G1</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Arzanpour, Siamak" sort="Arzanpour, Siamak" uniqKey="Arzanpour S" first="Siamak" last="Arzanpour">Siamak Arzanpour</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Department of Mechatronic Engineering Systems, Simon Fraser University</s1>
<s2>Surrey, BC, V3T OA3</s2>
<s3>CAN</s3>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>Canada</country>
<wicri:noRegion>Surrey, BC, V3T OA3</wicri:noRegion>
</affiliation>
</author>
</analytic>
<series><title level="j" type="main">Smart materials and structures</title>
<title level="j" type="abbreviated">Smart mater. struc.</title>
<idno type="ISSN">0964-1726</idno>
<imprint><date when="2014">2014</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
<seriesStmt><title level="j" type="main">Smart materials and structures</title>
<title level="j" type="abbreviated">Smart mater. struc.</title>
<idno type="ISSN">0964-1726</idno>
</seriesStmt>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term>
<term>Application</term>
<term>Control systems</term>
<term>Dampers</term>
<term>Force measurement</term>
<term>Haptic interfaces</term>
<term>Implementation</term>
<term>Magnetorheological fluid</term>
<term>Modelling</term>
<term>Planar interface</term>
<term>Surgery</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Interface plane</term>
<term>Modélisation</term>
<term>Implémentation</term>
<term>Mesure force</term>
<term>Amortisseur</term>
<term>Algorithme</term>
<term>Application</term>
<term>Chirurgie</term>
<term>Fluide magnétorhéologique</term>
<term>Interface haptique</term>
<term>Système commande</term>
</keywords>
<keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Chirurgie</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">The growing demand for haptic technologies in recent years has motivated novel approaches in developing haptic interfaces and control algorithms. Semi-active haptic interfaces, in general, have the advantage of addressing safety concerns which adversely affect their active counterparts. This paper presents the development of a planar semi-active haptic interface using magnetorheological (MR) dampers. The ability of MR dampers to produce controllable resistance forces is the key reason for their utilization in the proposed haptic interface. The proposed planar semi-active haptic interface consists of linear and rotary MR dampers. Each of the MR dampers is modeled experimentally using the Bouc-Wen model. A haptic rendering algorithm called the digital resistance map (DRM) is also developed to control MR dampers. DRM is a high-fidelity haptic rendering algorithm, and proved to be effective to create comprehensive force feedback for operators. MATLAB/Simulink® is used for implementing several DRM scenarios for generating haptic enabled virtual environments. The experimental results demonstrate the effectiveness of the proposed haptic interface and rendering algorithm.</div>
</front>
</TEI>
<inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0964-1726</s0>
</fA01>
<fA03 i2="1"><s0>Smart mater. struc.</s0>
</fA03>
<fA05><s2>23</s2>
</fA05>
<fA06><s2>5</s2>
</fA06>
<fA08 i1="01" i2="1" l="ENG"><s1>Development and investigation of a semi-active polar planar haptic interface using the digital resistance map concept</s1>
</fA08>
<fA11 i1="01" i2="1"><s1>ASADI (Ehsan)</s1>
</fA11>
<fA11 i1="02" i2="1"><s1>ARZANPOUR (Siamak)</s1>
</fA11>
<fA14 i1="01"><s1>Department of Mechanical and Mechatronic Engineering, University of Waterloo, 200 University Avenue W</s1>
<s2>Waterloo, ON, N2L 3G1</s2>
<s3>CAN</s3>
<sZ>1 aut.</sZ>
</fA14>
<fA14 i1="02"><s1>Department of Mechatronic Engineering Systems, Simon Fraser University</s1>
<s2>Surrey, BC, V3T OA3</s2>
<s3>CAN</s3>
<sZ>2 aut.</sZ>
</fA14>
<fA20><s2>055012.1-055012.9</s2>
</fA20>
<fA21><s1>2014</s1>
</fA21>
<fA23 i1="01"><s0>ENG</s0>
</fA23>
<fA43 i1="01"><s1>INIST</s1>
<s2>26248</s2>
<s5>354000500472090130</s5>
</fA43>
<fA44><s0>0000</s0>
<s1>© 2014 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45><s0>39 ref.</s0>
</fA45>
<fA47 i1="01" i2="1"><s0>14-0132749</s0>
</fA47>
<fA60><s1>P</s1>
</fA60>
<fA61><s0>A</s0>
</fA61>
<fA64 i1="01" i2="1"><s0>Smart materials and structures</s0>
</fA64>
<fA66 i1="01"><s0>GBR</s0>
</fA66>
<fC01 i1="01" l="ENG"><s0>The growing demand for haptic technologies in recent years has motivated novel approaches in developing haptic interfaces and control algorithms. Semi-active haptic interfaces, in general, have the advantage of addressing safety concerns which adversely affect their active counterparts. This paper presents the development of a planar semi-active haptic interface using magnetorheological (MR) dampers. The ability of MR dampers to produce controllable resistance forces is the key reason for their utilization in the proposed haptic interface. The proposed planar semi-active haptic interface consists of linear and rotary MR dampers. Each of the MR dampers is modeled experimentally using the Bouc-Wen model. A haptic rendering algorithm called the digital resistance map (DRM) is also developed to control MR dampers. DRM is a high-fidelity haptic rendering algorithm, and proved to be effective to create comprehensive force feedback for operators. MATLAB/Simulink® is used for implementing several DRM scenarios for generating haptic enabled virtual environments. The experimental results demonstrate the effectiveness of the proposed haptic interface and rendering algorithm.</s0>
</fC01>
<fC02 i1="01" i2="3"><s0>001B00G07T</s0>
</fC02>
<fC02 i1="02" i2="3"><s0>001B80C80G</s0>
</fC02>
<fC03 i1="01" i2="X" l="FRE"><s0>Interface plane</s0>
<s5>02</s5>
</fC03>
<fC03 i1="01" i2="X" l="ENG"><s0>Planar interface</s0>
<s5>02</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Interfase plana</s0>
<s5>02</s5>
</fC03>
<fC03 i1="02" i2="3" l="FRE"><s0>Modélisation</s0>
<s5>03</s5>
</fC03>
<fC03 i1="02" i2="3" l="ENG"><s0>Modelling</s0>
<s5>03</s5>
</fC03>
<fC03 i1="03" i2="3" l="FRE"><s0>Implémentation</s0>
<s5>04</s5>
</fC03>
<fC03 i1="03" i2="3" l="ENG"><s0>Implementation</s0>
<s5>04</s5>
</fC03>
<fC03 i1="04" i2="3" l="FRE"><s0>Mesure force</s0>
<s5>05</s5>
</fC03>
<fC03 i1="04" i2="3" l="ENG"><s0>Force measurement</s0>
<s5>05</s5>
</fC03>
<fC03 i1="05" i2="3" l="FRE"><s0>Amortisseur</s0>
<s5>11</s5>
</fC03>
<fC03 i1="05" i2="3" l="ENG"><s0>Dampers</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="3" l="FRE"><s0>Algorithme</s0>
<s5>12</s5>
</fC03>
<fC03 i1="06" i2="3" l="ENG"><s0>Algorithms</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Application</s0>
<s5>13</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Application</s0>
<s5>13</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Aplicación</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="3" l="FRE"><s0>Chirurgie</s0>
<s5>14</s5>
</fC03>
<fC03 i1="08" i2="3" l="ENG"><s0>Surgery</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Fluide magnétorhéologique</s0>
<s5>15</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Magnetorheological fluid</s0>
<s5>15</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Fluido magnetoreologico</s0>
<s5>15</s5>
</fC03>
<fC03 i1="10" i2="3" l="FRE"><s0>Interface haptique</s0>
<s5>16</s5>
</fC03>
<fC03 i1="10" i2="3" l="ENG"><s0>Haptic interfaces</s0>
<s5>16</s5>
</fC03>
<fC03 i1="11" i2="3" l="FRE"><s0>Système commande</s0>
<s5>18</s5>
</fC03>
<fC03 i1="11" i2="3" l="ENG"><s0>Control systems</s0>
<s5>18</s5>
</fC03>
<fN21><s1>174</s1>
</fN21>
</pA>
</standard>
</inist>
<affiliations><list><country><li>Canada</li>
</country>
</list>
<tree><country name="Canada"><noRegion><name sortKey="Asadi, Ehsan" sort="Asadi, Ehsan" uniqKey="Asadi E" first="Ehsan" last="Asadi">Ehsan Asadi</name>
</noRegion>
<name sortKey="Arzanpour, Siamak" sort="Arzanpour, Siamak" uniqKey="Arzanpour S" first="Siamak" last="Arzanpour">Siamak Arzanpour</name>
</country>
</tree>
</affiliations>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Checkpoint

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000062 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Checkpoint/biblio.hfd -nk 000062 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    PascalFrancis
   |étape=   Checkpoint
   |type=    RBID
   |clé=     Pascal:14-0132749
   |texte=   Development and investigation of a semi-active polar planar haptic interface using the digital resistance map concept
}}

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur les dispositifs haptiques

Development and investigation of a semi-active polar planar haptic interface using the digital resistance map concept

Development and investigation of a semi-active polar planar haptic interface using the digital resistance map concept

Source :

Descripteurs français

English descriptors

Abstract

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

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri