Force display using a hybrid haptic device composed of motors and brakes
Identifieur interne : 000D72 ( PascalFrancis/Corpus ); précédent : 000D71; suivant : 000D73Force display using a hybrid haptic device composed of motors and brakes
Auteurs : Tae-Bum Kwon ; Jae-Bok SongSource :
- Mechatronics : (Oxford) [ 0957-4158 ] ; 2006.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
Abstract
In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. However, the force feedback using active actuators such as motors can make the system active and sometimes unstable. To ensure the safe operation and enhance the haptic feeling, system stability should be guaranteed. Both active actuators such as motors and passive ones such as brakes are commonly used for haptic devices. Motors can generate a torque in any direction, but they can make the system active and thus, sometimes unstable during operation. On the other hand, brakes can generate a torque only against their rotation, but they dissipate energy during operation and this dissipation makes the system intrinsically stable. Consequently, motors and brakes are complementary to each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with motors and brakes is designed, in which each DOF is actuated by a pair of motor and brake. Simultaneous operation of motors and brakes is analyzed. Models for some environments, virtual wall contact and frictional effect, are proposed. The results for the hybrid haptic system are compared with those for the active haptic system and the passivity based control system. The experimental results show that the hybrid haptic device is more suited to some applications than the other haptic systems.
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Pour connaître la documentation sur le format Inist Standard.
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Format Inist (serveur)
NO : | PASCAL 06-0222932 INIST |
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ET : | Force display using a hybrid haptic device composed of motors and brakes |
AU : | KWON (Tae-Bum); SONG (Jae-Bok) |
AF : | Department of Mechanical Engineering, Korea University, 5, Anam-Dong/Seongbuk-Gu, Seoul 136-713/Corée, République de (1 aut., 2 aut.) |
DT : | Publication en série; Niveau analytique |
SO : | Mechatronics : (Oxford); ISSN 0957-4158; Royaume-Uni; Da. 2006; Vol. 16; No. 5; Pp. 249-257; Bibl. 9 ref. |
LA : | Anglais |
EA : | In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. However, the force feedback using active actuators such as motors can make the system active and sometimes unstable. To ensure the safe operation and enhance the haptic feeling, system stability should be guaranteed. Both active actuators such as motors and passive ones such as brakes are commonly used for haptic devices. Motors can generate a torque in any direction, but they can make the system active and thus, sometimes unstable during operation. On the other hand, brakes can generate a torque only against their rotation, but they dissipate energy during operation and this dissipation makes the system intrinsically stable. Consequently, motors and brakes are complementary to each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with motors and brakes is designed, in which each DOF is actuated by a pair of motor and brake. Simultaneous operation of motors and brakes is analyzed. Models for some environments, virtual wall contact and frictional effect, are proposed. The results for the hybrid haptic system are compared with those for the active haptic system and the passivity based control system. The experimental results show that the hybrid haptic device is more suited to some applications than the other haptic systems. |
CC : | 001D02B04; 001D12E04; 001B40F30P |
FD : | Système actif; Sensibilité tactile; Interface utilisateur; Frein; Réalité virtuelle; Opérateur humain; Actionneur; Couple moteur; Modélisation; Rétroaction; Commande force; Etude expérimentale; Système 2 degrés liberté; . |
ED : | Active system; Tactile sensitivity; User interface; Brake; Virtual reality; Human operator; Actuator; Motor torque; Modeling; Feedback regulation; Force control; Experimental study; System with two degrees of freedom |
SD : | Sistema activo; Sensibilidad tactil; Interfase usuario; Freno; Realidad virtual; Operador humano; Accionador; Par motor; Modelización; Retroacción; Control fuerza; Estudio experimental; Sistema 2 grados libertad |
LO : | INIST-22113.354000156586520020 |
ID : | 06-0222932 |
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Pascal:06-0222932Le document en format XML
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<ET>Force display using a hybrid haptic device composed of motors and brakes</ET>
<AU>KWON (Tae-Bum); SONG (Jae-Bok)</AU>
<AF>Department of Mechanical Engineering, Korea University, 5, Anam-Dong/Seongbuk-Gu, Seoul 136-713/Corée, République de (1 aut., 2 aut.)</AF>
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<EA>In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. However, the force feedback using active actuators such as motors can make the system active and sometimes unstable. To ensure the safe operation and enhance the haptic feeling, system stability should be guaranteed. Both active actuators such as motors and passive ones such as brakes are commonly used for haptic devices. Motors can generate a torque in any direction, but they can make the system active and thus, sometimes unstable during operation. On the other hand, brakes can generate a torque only against their rotation, but they dissipate energy during operation and this dissipation makes the system intrinsically stable. Consequently, motors and brakes are complementary to each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with motors and brakes is designed, in which each DOF is actuated by a pair of motor and brake. Simultaneous operation of motors and brakes is analyzed. Models for some environments, virtual wall contact and frictional effect, are proposed. The results for the hybrid haptic system are compared with those for the active haptic system and the passivity based control system. The experimental results show that the hybrid haptic device is more suited to some applications than the other haptic systems.</EA>
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