The dynamics and control of a haptic interface device
Identifieur interne : 001503 ( PascalFrancis/Checkpoint ); précédent : 001502; suivant : 001504The dynamics and control of a haptic interface device
Auteurs : H. Kazerooni [États-Unis] ; MING-GUO HERSource :
- IEEE transactions on robotics and automation [ 1042-296X ] ; 1994.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique.
English descriptors
- KwdEn :
Abstract
Haptic Interface Devices are machines that are controlled by the human arm contact forces. These devices are necessary elements of virtual reality machines. These devices may be programmed to give the human arm the sensation of forces associated with various arbitrary maneuvers. As examples, these devices can give the human the sensation that he/she is maneuvering a mass, or pushing onto a spring or a damper. In general, these devices may be programmed for any trajectory-dependent force. To illustrate and verify the analysis of these machines, a two-degree-of-freedom electrically-powered haptic interface device was designed and built at the Human Engineering Laboratory (HEL) of the University of California-Berkeley
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California, mechanical eng. dep.</s1><s2>Berkeley CA 94720</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Berkeley CA 94720</wicri:noRegion></affiliation></author><author><name sortKey="Ming Guo Her" sort="Ming Guo Her" uniqKey="Ming Guo Her" last="Ming-Guo Her">MING-GUO HER</name></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">95-0174337</idno><date when="1994">1994</date><idno type="stanalyst">PASCAL 95-0174337 INIST</idno><idno type="RBID">Pascal:95-0174337</idno><idno type="wicri:Area/PascalFrancis/Corpus">001734</idno><idno type="wicri:Area/PascalFrancis/Curation">001387</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">001503</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">The dynamics and control of a haptic interface device</title><author><name sortKey="Kazerooni, H" sort="Kazerooni, H" uniqKey="Kazerooni H" first="H." last="Kazerooni">H. Kazerooni</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Univ. California, mechanical eng. dep.</s1><s2>Berkeley CA 94720</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Berkeley CA 94720</wicri:noRegion></affiliation></author><author><name sortKey="Ming Guo Her" sort="Ming Guo Her" uniqKey="Ming Guo Her" last="Ming-Guo Her">MING-GUO HER</name></author></analytic><series><title level="j" type="main">IEEE transactions on robotics and automation</title><title level="j" type="abbreviated">IEEE trans. robot. autom.</title><idno type="ISSN">1042-296X</idno><imprint><date when="1994">1994</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">IEEE transactions on robotics and automation</title><title level="j" type="abbreviated">IEEE trans. robot. autom.</title><idno type="ISSN">1042-296X</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Arm</term><term>Control system</term><term>Device</term><term>Dynamics</term><term>Force control</term><term>Interface</term><term>Manipulator</term><term>Robotics</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term><term>Dynamique</term><term>Interface</term><term>Dispositif</term><term>Manipulateur</term><term>Système commande</term><term>Commande force</term><term>Bras</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Haptic Interface Devices are machines that are controlled by the human arm contact forces. These devices are necessary elements of virtual reality machines. These devices may be programmed to give the human arm the sensation of forces associated with various arbitrary maneuvers. As examples, these devices can give the human the sensation that he/she is maneuvering a mass, or pushing onto a spring or a damper. In general, these devices may be programmed for any trajectory-dependent force. 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