HapticV1, PascalFrancis, Corpus, bibRecord, 000731

Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward

Identifieur interne : 000731 ( PascalFrancis/Corpus ); précédent : 000730; suivant : 000732

Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward

Auteurs : Jorge Juan Gil ; Angel Rubio ; Joan Savall

Source :

IEEE transactions on control systems technology [ 1063-6536 ] ; 2009.

RBID : Pascal:09-0472846

Descripteurs français

Pascal (Inist)
- Boucle anticipation, Homme, Temps discret, Inertie, Sensibilité tactile, Comportement utilisateur, Domaine travail, Bras, Facteur humain.

English descriptors

KwdEn :
- Arm, Discrete time, Feedforward, Human, Human factor, Inertia, Tactile sensitivity, User behavior, Workspace.

Abstract

When using a haptic device in unconstrained movement, the user should experience only minor inertia. For certain tasks, the workspace of the device should be similar or even larger than that of the human arm. This condition tends to lead to large devices that often present high rather than low inertia. This brief describes a method to decrease the inertia felt by users of impedance haptic devices. It has been successfully implemented in the LHIfAM haptic device. The effect that this strategy has on stability and virtual contact is also illustrated.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A11	`01`	`1`		`@1 JUAN GIL (Jorge)`
A11	`02`	`1`		`@1 RUBIO (Angel)`
A11	`03`	`1`		`@1 SAVALL (Joan)`
A14	`01`			`@1 Applied Mechanics Department, CEIT and TECNUN, University of Navarra @2 20018 San Sebastián @3 ESP @Z 1 aut. @Z 2 aut. @Z 3 aut.`
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C03	`03`	`X`	`SPA`	`@0 Tiempo discreto @5 08`
C03	`04`	`X`	`FRE`	`@0 Inertie @5 18`
C03	`04`	`X`	`ENG`	`@0 Inertia @5 18`
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C03	`05`	`X`	`FRE`	`@0 Sensibilité tactile @5 19`
C03	`05`	`X`	`ENG`	`@0 Tactile sensitivity @5 19`
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C03	`06`	`X`	`SPA`	`@0 Comportamiento usuario @5 20`
C03	`07`	`X`	`FRE`	`@0 Domaine travail @5 21`
C03	`07`	`X`	`ENG`	`@0 Workspace @5 21`
C03	`07`	`X`	`SPA`	`@0 Dominio trabajo @5 21`
C03	`08`	`X`	`FRE`	`@0 Bras @5 22`
C03	`08`	`X`	`ENG`	`@0 Arm @5 22`
C03	`08`	`X`	`SPA`	`@0 Brazo @5 22`
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Format Inist (serveur)

NO :	PASCAL 09-0472846 INIST
ET :	Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward
AU :	JUAN GIL (Jorge); RUBIO (Angel); SAVALL (Joan)
AF :	Applied Mechanics Department, CEIT and TECNUN, University of Navarra/20018 San Sebastián/Espagne (1 aut., 2 aut., 3 aut.)
DT :	Publication en série; Niveau analytique
SO :	IEEE transactions on control systems technology; ISSN 1063-6536; Coden IETTE2; Etats-Unis; Da. 2009; Vol. 17; No. 4; Pp. 833-838; Bibl. 22 ref.
LA :	Anglais
EA :	When using a haptic device in unconstrained movement, the user should experience only minor inertia. For certain tasks, the workspace of the device should be similar or even larger than that of the human arm. This condition tends to lead to large devices that often present high rather than low inertia. This brief describes a method to decrease the inertia felt by users of impedance haptic devices. It has been successfully implemented in the LHIfAM haptic device. The effect that this strategy has on stability and virtual contact is also illustrated.
CC :	001D02B04; 001D02D
FD :	Boucle anticipation; Homme; Temps discret; Inertie; Sensibilité tactile; Comportement utilisateur; Domaine travail; Bras; Facteur humain
ED :	Feedforward; Human; Discrete time; Inertia; Tactile sensitivity; User behavior; Workspace; Arm; Human factor
SD :	Ciclo anticipación; Hombre; Tiempo discreto; Inercia; Sensibilidad tactil; Comportamiento usuario; Dominio trabajo; Brazo; Factor humano
LO :	INIST-26265.354000171848480080
ID :	09-0472846

Links to Exploration step

Pascal:09-0472846

Le document en format XML

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Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward

Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward

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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)

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