HapticV1, PascalFrancis, Checkpoint, bibRecord, 000A02

Force-feedback control of a spherical haptic device featuring an electrorheological fluid

Identifieur interne : 000A02 ( PascalFrancis/Checkpoint ); précédent : 000A01; suivant : 000A03

Force-feedback control of a spherical haptic device featuring an electrorheological fluid

Auteurs : Young-Min Han [Corée du Sud] ; Seung-Bok Choi [Corée du Sud]

Source :

Smart materials and structures [ 0964-1726 ] ; 2006.

RBID : Pascal:06-0528778

Descripteurs français

Pascal (Inist)
- Boucle réaction, Commande boucle fermée, Mode glissant, Système incertain, Actionneur, Tâche poursuite, Sensibilité tactile, Fluide électrorhéologique, Embrayage, Electrode, Moteur courant alternatif, Erreur poursuite, Equation ordre 2, Commande force, Modélisation, Méthode domaine temps, ., Angles d'Euler.

English descriptors

KwdEn :
- AC motors, Actuators, Closed loop control, Clutches, Electrodes, Electrorheological fluid, Euler angles, Feedback, Force control, Modelling, Second order equation, Sliding mode, Time domain method, Touch (physiological), Tracking error, Tracking task, Uncertain systems.

Abstract

This paper presents the force-feedback performance of an active type of haptic device featuring an electrorheological (ER) fluid via a sliding mode controller (SMC), which is very robust to external disturbances and parameter uncertainties. In order to generate a 2-degrees-of-freedom (2-DOF) active force, a spherical ER joint is designed based on the mathematical torque model. The ER joint is then manufactured by adopting two bi-directional clutch actuators and the spherical geometry of the electrode, and its field-dependent generating force is experimentally evaluated. Subsequently, the 2-DOF force display is manufactured by integrating the ER joint with AC motors. The force response of the manufactured haptic device is experimentally evaluated, and expressed by a second-order dynamic equation. In order to achieve the desired force trajectories, the SMC is formulated and experimentally realized by imposing an Euler angle relationship. Tracking control performances for various force trajectories are presented in the time domain, and their tracking errors are evaluated.

Affiliations:

Corée du Sud

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

to stream PascalFrancis, to step Corpus: 000C23
to stream PascalFrancis, to step Curation: 000883

Links to Exploration step

Pascal:06-0528778

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Force-feedback control of a spherical haptic device featuring an electrorheological fluid</title>
<author><name sortKey="Han, Young Min" sort="Han, Young Min" uniqKey="Han Y" first="Young-Min" last="Han">Young-Min Han</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University</s1>
<s2>Incheon 402-751</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Incheon 402-751</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Choi, Seung Bok" sort="Choi, Seung Bok" uniqKey="Choi S" first="Seung-Bok" last="Choi">Seung-Bok Choi</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University</s1>
<s2>Incheon 402-751</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Incheon 402-751</wicri:noRegion>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">06-0528778</idno>
<date when="2006">2006</date>
<idno type="stanalyst">PASCAL 06-0528778 INIST</idno>
<idno type="RBID">Pascal:06-0528778</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">000C23</idno>
<idno type="wicri:Area/PascalFrancis/Curation">000883</idno>
<idno type="wicri:Area/PascalFrancis/Checkpoint">000A02</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Force-feedback control of a spherical haptic device featuring an electrorheological fluid</title>
<author><name sortKey="Han, Young Min" sort="Han, Young Min" uniqKey="Han Y" first="Young-Min" last="Han">Young-Min Han</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University</s1>
<s2>Incheon 402-751</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Incheon 402-751</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Choi, Seung Bok" sort="Choi, Seung Bok" uniqKey="Choi S" first="Seung-Bok" last="Choi">Seung-Bok Choi</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University</s1>
<s2>Incheon 402-751</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Incheon 402-751</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="2006">2006</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>AC motors</term>
<term>Actuators</term>
<term>Closed loop control</term>
<term>Clutches</term>
<term>Electrodes</term>
<term>Electrorheological fluid</term>
<term>Euler angles</term>
<term>Feedback</term>
<term>Force control</term>
<term>Modelling</term>
<term>Second order equation</term>
<term>Sliding mode</term>
<term>Time domain method</term>
<term>Touch (physiological)</term>
<term>Tracking error</term>
<term>Tracking task</term>
<term>Uncertain systems</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Boucle réaction</term>
<term>Commande boucle fermée</term>
<term>Mode glissant</term>
<term>Système incertain</term>
<term>Actionneur</term>
<term>Tâche poursuite</term>
<term>Sensibilité tactile</term>
<term>Fluide électrorhéologique</term>
<term>Embrayage</term>
<term>Electrode</term>
<term>Moteur courant alternatif</term>
<term>Erreur poursuite</term>
<term>Equation ordre 2</term>
<term>Commande force</term>
<term>Modélisation</term>
<term>Méthode domaine temps</term>
<term>.</term>
<term>Angles d'Euler</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">This paper presents the force-feedback performance of an active type of haptic device featuring an electrorheological (ER) fluid via a sliding mode controller (SMC), which is very robust to external disturbances and parameter uncertainties. In order to generate a 2-degrees-of-freedom (2-DOF) active force, a spherical ER joint is designed based on the mathematical torque model. The ER joint is then manufactured by adopting two bi-directional clutch actuators and the spherical geometry of the electrode, and its field-dependent generating force is experimentally evaluated. Subsequently, the 2-DOF force display is manufactured by integrating the ER joint with AC motors. The force response of the manufactured haptic device is experimentally evaluated, and expressed by a second-order dynamic equation. In order to achieve the desired force trajectories, the SMC is formulated and experimentally realized by imposing an Euler angle relationship. Tracking control performances for various force trajectories are presented in the time domain, and their tracking errors are evaluated.</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>15</s2>
</fA05>
<fA06><s2>5</s2>
</fA06>
<fA08 i1="01" i2="1" l="ENG"><s1>Force-feedback control of a spherical haptic device featuring an electrorheological fluid</s1>
</fA08>
<fA11 i1="01" i2="1"><s1>HAN (Young-Min)</s1>
</fA11>
<fA11 i1="02" i2="1"><s1>CHOI (Seung-Bok)</s1>
</fA11>
<fA14 i1="01"><s1>Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University</s1>
<s2>Incheon 402-751</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</fA14>
<fA20><s1>1438-1446</s1>
</fA20>
<fA21><s1>2006</s1>
</fA21>
<fA23 i1="01"><s0>ENG</s0>
</fA23>
<fA43 i1="01"><s1>INIST</s1>
<s2>26248</s2>
<s5>354000139312750330</s5>
</fA43>
<fA44><s0>0000</s0>
<s1>© 2006 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45><s0>19 ref.</s0>
</fA45>
<fA47 i1="01" i2="1"><s0>06-0528778</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>This paper presents the force-feedback performance of an active type of haptic device featuring an electrorheological (ER) fluid via a sliding mode controller (SMC), which is very robust to external disturbances and parameter uncertainties. In order to generate a 2-degrees-of-freedom (2-DOF) active force, a spherical ER joint is designed based on the mathematical torque model. The ER joint is then manufactured by adopting two bi-directional clutch actuators and the spherical geometry of the electrode, and its field-dependent generating force is experimentally evaluated. Subsequently, the 2-DOF force display is manufactured by integrating the ER joint with AC motors. The force response of the manufactured haptic device is experimentally evaluated, and expressed by a second-order dynamic equation. In order to achieve the desired force trajectories, the SMC is formulated and experimentally realized by imposing an Euler angle relationship. Tracking control performances for various force trajectories are presented in the time domain, and their tracking errors are evaluated.</s0>
</fC01>
<fC02 i1="01" i2="3"><s0>001B80C80G</s0>
</fC02>
<fC02 i1="02" i2="X"><s0>001D12E04</s0>
</fC02>
<fC02 i1="03" i2="3"><s0>001B00G07T</s0>
</fC02>
<fC02 i1="04" i2="X"><s0>001B40F30R</s0>
</fC02>
<fC03 i1="01" i2="3" l="FRE"><s0>Boucle réaction</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="3" l="ENG"><s0>Feedback</s0>
<s5>06</s5>
</fC03>
<fC03 i1="02" i2="3" l="FRE"><s0>Commande boucle fermée</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="3" l="ENG"><s0>Closed loop control</s0>
<s5>07</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Mode glissant</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Sliding mode</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Modo deslizante</s0>
<s5>08</s5>
</fC03>
<fC03 i1="04" i2="3" l="FRE"><s0>Système incertain</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="3" l="ENG"><s0>Uncertain systems</s0>
<s5>09</s5>
</fC03>
<fC03 i1="05" i2="3" l="FRE"><s0>Actionneur</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="3" l="ENG"><s0>Actuators</s0>
<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Tâche poursuite</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Tracking task</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Tarea persecución</s0>
<s5>11</s5>
</fC03>
<fC03 i1="07" i2="3" l="FRE"><s0>Sensibilité tactile</s0>
<s5>18</s5>
</fC03>
<fC03 i1="07" i2="3" l="ENG"><s0>Touch (physiological)</s0>
<s5>18</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Fluide électrorhéologique</s0>
<s5>20</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Electrorheological fluid</s0>
<s5>20</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Fluido electroreologico</s0>
<s5>20</s5>
</fC03>
<fC03 i1="09" i2="3" l="FRE"><s0>Embrayage</s0>
<s5>21</s5>
</fC03>
<fC03 i1="09" i2="3" l="ENG"><s0>Clutches</s0>
<s5>21</s5>
</fC03>
<fC03 i1="10" i2="3" l="FRE"><s0>Electrode</s0>
<s5>22</s5>
</fC03>
<fC03 i1="10" i2="3" l="ENG"><s0>Electrodes</s0>
<s5>22</s5>
</fC03>
<fC03 i1="11" i2="3" l="FRE"><s0>Moteur courant alternatif</s0>
<s5>23</s5>
</fC03>
<fC03 i1="11" i2="3" l="ENG"><s0>AC motors</s0>
<s5>23</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Erreur poursuite</s0>
<s5>24</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Tracking error</s0>
<s5>24</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Error persecusión</s0>
<s5>24</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Equation ordre 2</s0>
<s5>28</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Second order equation</s0>
<s5>28</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Ecuación orden 2</s0>
<s5>28</s5>
</fC03>
<fC03 i1="14" i2="3" l="FRE"><s0>Commande force</s0>
<s5>30</s5>
</fC03>
<fC03 i1="14" i2="3" l="ENG"><s0>Force control</s0>
<s5>30</s5>
</fC03>
<fC03 i1="15" i2="3" l="FRE"><s0>Modélisation</s0>
<s5>31</s5>
</fC03>
<fC03 i1="15" i2="3" l="ENG"><s0>Modelling</s0>
<s5>31</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Méthode domaine temps</s0>
<s5>32</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Time domain method</s0>
<s5>32</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Método dominio tiempo</s0>
<s5>32</s5>
</fC03>
<fC03 i1="17" i2="3" l="FRE"><s0>.</s0>
<s4>INC</s4>
<s5>82</s5>
</fC03>
<fC03 i1="18" i2="3" l="FRE"><s0>Angles d'Euler</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="18" i2="3" l="ENG"><s0>Euler angles</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="18" i2="3" l="SPA"><s0>Angulos de Euler</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fN21><s1>346</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
</inist>
<affiliations><list><country><li>Corée du Sud</li>
</country>
</list>
<tree><country name="Corée du Sud"><noRegion><name sortKey="Han, Young Min" sort="Han, Young Min" uniqKey="Han Y" first="Young-Min" last="Han">Young-Min Han</name>
</noRegion>
<name sortKey="Choi, Seung Bok" sort="Choi, Seung Bok" uniqKey="Choi S" first="Seung-Bok" last="Choi">Seung-Bok Choi</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 000A02 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Checkpoint/biblio.hfd -nk 000A02 | 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:06-0528778
   |texte=   Force-feedback control of a spherical haptic device featuring an electrorheological fluid
}}

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

Force-feedback control of a spherical haptic device featuring an electrorheological fluid

Force-feedback control of a spherical haptic device featuring an electrorheological fluid

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