HapticV1, PascalFrancis, Corpus, bibRecord, 000004

Design of a smart haptic system for repulsive force control under irregular manipulation environment

Identifieur interne : 000004 ( PascalFrancis/Corpus ); précédent : 000003; suivant : 000005

Design of a smart haptic system for repulsive force control under irregular manipulation environment

Auteurs : Sang-Rock Lee ; Seung-Hyun Choi ; Seung-Bok Choi ; Myeong-Woo Cho

Source :

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

RBID : Pascal:15-0026554

Descripteurs français

Pascal (Inist)
- Commande force, Interaction répulsion, Temps réel, Réponse temporelle, Actionneur, Système intelligent, Interface haptique.

English descriptors

KwdEn :
- Actuators, Force control, Haptic interfaces, Intelligent system, Real time, Repulsion interaction, Time response.

Abstract

This paper describes how to make an operator feel the desired repulsive force in a haptic system. When an operator manipulates a haptic system, the repulsive force of the operator varies significantly, depending on many factors such as position, velocity and force. In order to reflect the desired repulsive force to the operator, it is commonly known that a haptic system must compensate for irregularly changing forces. The irregularity of the forces, however, has discouraged many researchers from establishing a clear principle on how to make the operator feel the desired repulsive force. To resolve this problem, we introduce a smart haptic framework that can reflect the desired repulsive force to the operator, regardless of the operator's movement. A dummy governing equation technique is introduced and used to calculate the proper actuating force in real time. The actuating force is generated by a PID controller. To verify the proposed method, a mathematical proof is offered to show that the repulsive force converges to the desired repulsive force. Additionally, to demonstrate the performance of the proposed method, simulational and experimental tests are implemented.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A01	`01`	`1`		`@0 0964-1726`
A03		`1`		`@0 Smart mater. struc.`
A05				`@2 23`
A06				`@2 12`
A08	`01`	`1`	`ENG`	`@1 Design of a smart haptic system for repulsive force control under irregular manipulation environment`
A11	`01`	`1`		`@1 LEE (Sang-Rock)`
A11	`02`	`1`		`@1 CHOI (Seung-Hyun)`
A11	`03`	`1`		`@1 CHOI (Seung-Bok)`
A11	`04`	`1`		`@1 CHO (Myeong-Woo)`
A14	`01`			`@1 Department of Mechanical Engineering, Inha University @2 Incheon, 402-751 @3 KOR @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 4 aut.`
A20				`@2 125040.1-125040.9`
A21				`@1 2014`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 26248 @5 354000504580420410`
A44				`@0 0000 @1 © 2015 INIST-CNRS. All rights reserved.`
A45				`@0 31 ref.`
A47	`01`	`1`		`@0 15-0026554`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 Smart materials and structures`
A66	`01`			`@0 GBR`
C01	`01`		`ENG`	@0 This paper describes how to make an operator feel the desired repulsive force in a haptic system. When an operator manipulates a haptic system, the repulsive force of the operator varies significantly, depending on many factors such as position, velocity and force. In order to reflect the desired repulsive force to the operator, it is commonly known that a haptic system must compensate for irregularly changing forces. The irregularity of the forces, however, has discouraged many researchers from establishing a clear principle on how to make the operator feel the desired repulsive force. To resolve this problem, we introduce a smart haptic framework that can reflect the desired repulsive force to the operator, regardless of the operator's movement. A dummy governing equation technique is introduced and used to calculate the proper actuating force in real time. The actuating force is generated by a PID controller. To verify the proposed method, a mathematical proof is offered to show that the repulsive force converges to the desired repulsive force. Additionally, to demonstrate the performance of the proposed method, simulational and experimental tests are implemented.
C02	`01`	`3`		`@0 001B00G07M`
C03	`01`	`3`	`FRE`	`@0 Commande force @5 02`
C03	`01`	`3`	`ENG`	`@0 Force control @5 02`
C03	`02`	`X`	`FRE`	`@0 Interaction répulsion @5 03`
C03	`02`	`X`	`ENG`	`@0 Repulsion interaction @5 03`
C03	`02`	`X`	`SPA`	`@0 Interacción repulsión @5 03`
C03	`03`	`X`	`FRE`	`@0 Temps réel @5 04`
C03	`03`	`X`	`ENG`	`@0 Real time @5 04`
C03	`03`	`X`	`SPA`	`@0 Tiempo real @5 04`
C03	`04`	`X`	`FRE`	`@0 Réponse temporelle @5 05`
C03	`04`	`X`	`ENG`	`@0 Time response @5 05`
C03	`04`	`X`	`SPA`	`@0 Respuesta temporal @5 05`
C03	`05`	`3`	`FRE`	`@0 Actionneur @5 06`
C03	`05`	`3`	`ENG`	`@0 Actuators @5 06`
C03	`06`	`X`	`FRE`	`@0 Système intelligent @5 15`
C03	`06`	`X`	`ENG`	`@0 Intelligent system @5 15`
C03	`06`	`X`	`SPA`	`@0 Sistema inteligente @5 15`
C03	`07`	`3`	`FRE`	`@0 Interface haptique @5 16`
C03	`07`	`3`	`ENG`	`@0 Haptic interfaces @5 16`
N21				`@1 040`

Format Inist (serveur)

NO :	PASCAL 15-0026554 INIST
ET :	Design of a smart haptic system for repulsive force control under irregular manipulation environment
AU :	LEE (Sang-Rock); CHOI (Seung-Hyun); CHOI (Seung-Bok); CHO (Myeong-Woo)
AF :	Department of Mechanical Engineering, Inha University/Incheon, 402-751/Corée, République de (1 aut., 2 aut., 3 aut., 4 aut.)
DT :	Publication en série; Niveau analytique
SO :	Smart materials and structures; ISSN 0964-1726; Royaume-Uni; Da. 2014; Vol. 23; No. 12; 125040.1-125040.9; Bibl. 31 ref.
LA :	Anglais
EA :	This paper describes how to make an operator feel the desired repulsive force in a haptic system. When an operator manipulates a haptic system, the repulsive force of the operator varies significantly, depending on many factors such as position, velocity and force. In order to reflect the desired repulsive force to the operator, it is commonly known that a haptic system must compensate for irregularly changing forces. The irregularity of the forces, however, has discouraged many researchers from establishing a clear principle on how to make the operator feel the desired repulsive force. To resolve this problem, we introduce a smart haptic framework that can reflect the desired repulsive force to the operator, regardless of the operator's movement. A dummy governing equation technique is introduced and used to calculate the proper actuating force in real time. The actuating force is generated by a PID controller. To verify the proposed method, a mathematical proof is offered to show that the repulsive force converges to the desired repulsive force. Additionally, to demonstrate the performance of the proposed method, simulational and experimental tests are implemented.
CC :	001B00G07M
FD :	Commande force; Interaction répulsion; Temps réel; Réponse temporelle; Actionneur; Système intelligent; Interface haptique
ED :	Force control; Repulsion interaction; Real time; Time response; Actuators; Intelligent system; Haptic interfaces
SD :	Interacción repulsión; Tiempo real; Respuesta temporal; Sistema inteligente
LO :	INIST-26248.354000504580420410
ID :	15-0026554

Links to Exploration step

Pascal:15-0026554

Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper describes how to make an operator feel the desired repulsive force in a haptic system. When an operator manipulates a haptic system, the repulsive force of the operator varies significantly, depending on many factors such as position, velocity and force. In order to reflect the desired repulsive force to the operator, it is commonly known that a haptic system must compensate for irregularly changing forces. The irregularity of the forces, however, has discouraged many researchers from establishing a clear principle on how to make the operator feel the desired repulsive force. To resolve this problem, we introduce a smart haptic framework that can reflect the desired repulsive force to the operator, regardless of the operator's movement. A dummy governing equation technique is introduced and used to calculate the proper actuating force in real time. The actuating force is generated by a PID controller. To verify the proposed method, a mathematical proof is offered to show that the repulsive force converges to the desired repulsive force. Additionally, to demonstrate the performance of the proposed method, simulational and experimental tests are implemented.</div>
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<ET>Design of a smart haptic system for repulsive force control under irregular manipulation environment</ET>
<AU>LEE (Sang-Rock); CHOI (Seung-Hyun); CHOI (Seung-Bok); CHO (Myeong-Woo)</AU>
<AF>Department of Mechanical Engineering, Inha University/Incheon, 402-751/Corée, République de (1 aut., 2 aut., 3 aut., 4 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
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<LA>Anglais</LA>
<EA>This paper describes how to make an operator feel the desired repulsive force in a haptic system. When an operator manipulates a haptic system, the repulsive force of the operator varies significantly, depending on many factors such as position, velocity and force. In order to reflect the desired repulsive force to the operator, it is commonly known that a haptic system must compensate for irregularly changing forces. The irregularity of the forces, however, has discouraged many researchers from establishing a clear principle on how to make the operator feel the desired repulsive force. To resolve this problem, we introduce a smart haptic framework that can reflect the desired repulsive force to the operator, regardless of the operator's movement. A dummy governing equation technique is introduced and used to calculate the proper actuating force in real time. The actuating force is generated by a PID controller. To verify the proposed method, a mathematical proof is offered to show that the repulsive force converges to the desired repulsive force. Additionally, to demonstrate the performance of the proposed method, simulational and experimental tests are implemented.</EA>
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Design of a smart haptic system for repulsive force control under irregular manipulation environment

Design of a smart haptic system for repulsive force control under irregular manipulation environment

Source :

Descripteurs français

English descriptors

Abstract

Notice en format standard (ISO 2709)

Format Inist (serveur)

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