HapticV1, PascalFrancis, Corpus, bibRecord, 001015

Master-model based time-delayed force feedback interaction: Experimental results

Identifieur interne : 001015 ( PascalFrancis/Corpus ); précédent : 001014; suivant : 001016

Master-model based time-delayed force feedback interaction: Experimental results

Auteurs : H. Arioui ; M. Mana ; A. Kheddar ; S. Mammar

Source :

RBID : Pascal:04-0216735

Descripteurs français

Pascal (Inist)
- Commande intelligente, Rétroaction, Système paramètre variable, Téléopération, Stabilité, Robustesse, Réponse temporelle, Temps retard, Temps différé, Interaction, Interface utilisateur, Sensibilité tactile, Constante temps, Modélisation.

English descriptors

KwdEn :
- Delay time, Delayed time, Feedback regulation, Intelligent control, Interaction, Modeling, Remote operation, Robustness, Stability, Tactile sensitivity, Time constant, Time response, Time varying system, User interface.

Abstract

This paper extends earlier results on stable haptic and force feedback interaction in the presence of constant and varying time-delay. Although the paper focuses on VE based haptics, results can also apply to teleoperation. The proposed method considers extending our preliminary work where Smith prediction principle has been adapted on delayed haptic feedback interaction. We shall show that this proposed approach is easy to implement and is original since it investigates another way to formulate stable haptic feedback algorithms. It requires to know only the model of the master interface or the haptic display. Stability and robustness analysis are thoroughly discussed. Experimental results and comparison with wave variables are discussed.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 Master-model based time-delayed force feedback interaction: Experimental results`
A09	`01`	`1`	`ENG`	`@1 2002 IEEE international symposium on intelligent control : Vancouver BC, 27-30 October 2002`
A11	`01`	`1`		`@1 ARIOUI (H.)`
A11	`02`	`1`		`@1 MANA (M.)`
A11	`03`	`1`		`@1 KHEDDAR (A.)`
A11	`04`	`1`		`@1 MAMMAR (S.)`
A14	`01`			`@1 Laboratoire Systèmes Complexes - Fre-CNRS 2494, 40, rue du Pelvoux @2 91020 Evry @3 FRA @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 4 aut.`
A18	`01`	`1`		`@1 IEEE Control Systems Society @3 USA @9 patr.`
A20				`@1 896-901`
A21				`@1 2002`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-7620-X`
A30	`01`	`1`	`ENG`	`@1 IEEE international symposium on intelligent control @3 Vancouver BC CAN @4 2002-10-27`
A43	`01`			`@1 INIST @2 Y 37941 @5 354000117759711520`
A44				`@0 0000 @1 © 2004 INIST-CNRS. All rights reserved.`
A45				`@0 12 ref.`
A47	`01`	`1`		`@0 04-0216735`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 This paper extends earlier results on stable haptic and force feedback interaction in the presence of constant and varying time-delay. Although the paper focuses on VE based haptics, results can also apply to teleoperation. The proposed method considers extending our preliminary work where Smith prediction principle has been adapted on delayed haptic feedback interaction. We shall show that this proposed approach is easy to implement and is original since it investigates another way to formulate stable haptic feedback algorithms. It requires to know only the model of the master interface or the haptic display. Stability and robustness analysis are thoroughly discussed. Experimental results and comparison with wave variables are discussed.
C02	`01`	`X`		`@0 001D02D04`
C02	`02`	`X`		`@0 001D02C02`
C03	`01`	`X`	`FRE`	`@0 Commande intelligente @5 01`
C03	`01`	`X`	`ENG`	`@0 Intelligent control @5 01`
C03	`01`	`X`	`SPA`	`@0 Control inteligente @5 01`
C03	`02`	`X`	`FRE`	`@0 Rétroaction @5 09`
C03	`02`	`X`	`ENG`	`@0 Feedback regulation @5 09`
C03	`02`	`X`	`SPA`	`@0 Retroacción @5 09`
C03	`03`	`X`	`FRE`	`@0 Système paramètre variable @5 10`
C03	`03`	`X`	`ENG`	`@0 Time varying system @5 10`
C03	`03`	`X`	`SPA`	`@0 Sistema parámetro variable @5 10`
C03	`04`	`X`	`FRE`	`@0 Téléopération @5 11`
C03	`04`	`X`	`ENG`	`@0 Remote operation @5 11`
C03	`04`	`X`	`SPA`	`@0 Teleacción @5 11`
C03	`05`	`X`	`FRE`	`@0 Stabilité @5 12`
C03	`05`	`X`	`ENG`	`@0 Stability @5 12`
C03	`05`	`X`	`SPA`	`@0 Estabilidad @5 12`
C03	`06`	`X`	`FRE`	`@0 Robustesse @5 13`
C03	`06`	`X`	`ENG`	`@0 Robustness @5 13`
C03	`06`	`X`	`SPA`	`@0 Robustez @5 13`
C03	`07`	`X`	`FRE`	`@0 Réponse temporelle @5 18`
C03	`07`	`X`	`ENG`	`@0 Time response @5 18`
C03	`07`	`X`	`SPA`	`@0 Respuesta temporal @5 18`
C03	`08`	`X`	`FRE`	`@0 Temps retard @5 19`
C03	`08`	`X`	`ENG`	`@0 Delay time @5 19`
C03	`08`	`X`	`SPA`	`@0 Tiempo retardo @5 19`
C03	`09`	`X`	`FRE`	`@0 Temps différé @5 20`
C03	`09`	`X`	`ENG`	`@0 Delayed time @5 20`
C03	`09`	`X`	`SPA`	`@0 Tiempo diferido @5 20`
C03	`10`	`X`	`FRE`	`@0 Interaction @5 21`
C03	`10`	`X`	`ENG`	`@0 Interaction @5 21`
C03	`10`	`X`	`SPA`	`@0 Interacción @5 21`
C03	`11`	`X`	`FRE`	`@0 Interface utilisateur @5 22`
C03	`11`	`X`	`ENG`	`@0 User interface @5 22`
C03	`11`	`X`	`SPA`	`@0 Interfase usuario @5 22`
C03	`12`	`X`	`FRE`	`@0 Sensibilité tactile @5 23`
C03	`12`	`X`	`ENG`	`@0 Tactile sensitivity @5 23`
C03	`12`	`X`	`SPA`	`@0 Sensibilidad tactil @5 23`
C03	`13`	`X`	`FRE`	`@0 Constante temps @5 28`
C03	`13`	`X`	`ENG`	`@0 Time constant @5 28`
C03	`13`	`X`	`SPA`	`@0 Constante tiempo @5 28`
C03	`14`	`X`	`FRE`	`@0 Modélisation @5 29`
C03	`14`	`X`	`ENG`	`@0 Modeling @5 29`
C03	`14`	`X`	`SPA`	`@0 Modelización @5 29`
N21				`@1 145`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 04-0216735 INIST
ET :	Master-model based time-delayed force feedback interaction: Experimental results
AU :	ARIOUI (H.); MANA (M.); KHEDDAR (A.); MAMMAR (S.)
AF :	Laboratoire Systèmes Complexes - Fre-CNRS 2494, 40, rue du Pelvoux/91020 Evry/France (1 aut., 2 aut., 3 aut., 4 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE international symposium on intelligent control/2002-10-27/Vancouver BC CAN; Etats-Unis; Piscataway NJ: IEEE; Da. 2002; Pp. 896-901; ISBN 0-7803-7620-X
LA :	Anglais
EA :	This paper extends earlier results on stable haptic and force feedback interaction in the presence of constant and varying time-delay. Although the paper focuses on VE based haptics, results can also apply to teleoperation. The proposed method considers extending our preliminary work where Smith prediction principle has been adapted on delayed haptic feedback interaction. We shall show that this proposed approach is easy to implement and is original since it investigates another way to formulate stable haptic feedback algorithms. It requires to know only the model of the master interface or the haptic display. Stability and robustness analysis are thoroughly discussed. Experimental results and comparison with wave variables are discussed.
CC :	001D02D04; 001D02C02
FD :	Commande intelligente; Rétroaction; Système paramètre variable; Téléopération; Stabilité; Robustesse; Réponse temporelle; Temps retard; Temps différé; Interaction; Interface utilisateur; Sensibilité tactile; Constante temps; Modélisation
ED :	Intelligent control; Feedback regulation; Time varying system; Remote operation; Stability; Robustness; Time response; Delay time; Delayed time; Interaction; User interface; Tactile sensitivity; Time constant; Modeling
SD :	Control inteligente; Retroacción; Sistema parámetro variable; Teleacción; Estabilidad; Robustez; Respuesta temporal; Tiempo retardo; Tiempo diferido; Interacción; Interfase usuario; Sensibilidad tactil; Constante tiempo; Modelización
LO :	INIST-Y 37941.354000117759711520
ID :	04-0216735

Links to Exploration step

Pascal:04-0216735

Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper extends earlier results on stable haptic and force feedback interaction in the presence of constant and varying time-delay. Although the paper focuses on VE based haptics, results can also apply to teleoperation. The proposed method considers extending our preliminary work where Smith prediction principle has been adapted on delayed haptic feedback interaction. We shall show that this proposed approach is easy to implement and is original since it investigates another way to formulate stable haptic feedback algorithms. It requires to know only the model of the master interface or the haptic display. Stability and robustness analysis are thoroughly discussed. Experimental results and comparison with wave variables are discussed.</div>
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<fC01 i1="01" l="ENG"><s0>This paper extends earlier results on stable haptic and force feedback interaction in the presence of constant and varying time-delay. Although the paper focuses on VE based haptics, results can also apply to teleoperation. The proposed method considers extending our preliminary work where Smith prediction principle has been adapted on delayed haptic feedback interaction. We shall show that this proposed approach is easy to implement and is original since it investigates another way to formulate stable haptic feedback algorithms. It requires to know only the model of the master interface or the haptic display. Stability and robustness analysis are thoroughly discussed. Experimental results and comparison with wave variables are discussed.</s0>
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<s5>23</s5>
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<fC03 i1="13" i2="X" l="FRE"><s0>Constante temps</s0>
<s5>28</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Time constant</s0>
<s5>28</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Constante tiempo</s0>
<s5>28</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>29</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Modeling</s0>
<s5>29</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Modelización</s0>
<s5>29</s5>
</fC03>
<fN21><s1>145</s1>
</fN21>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 04-0216735 INIST</NO>
<ET>Master-model based time-delayed force feedback interaction: Experimental results</ET>
<AU>ARIOUI (H.); MANA (M.); KHEDDAR (A.); MAMMAR (S.)</AU>
<AF>Laboratoire Systèmes Complexes - Fre-CNRS 2494, 40, rue du Pelvoux/91020 Evry/France (1 aut., 2 aut., 3 aut., 4 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE international symposium on intelligent control/2002-10-27/Vancouver BC CAN; Etats-Unis; Piscataway NJ: IEEE; Da. 2002; Pp. 896-901; ISBN 0-7803-7620-X</SO>
<LA>Anglais</LA>
<EA>This paper extends earlier results on stable haptic and force feedback interaction in the presence of constant and varying time-delay. Although the paper focuses on VE based haptics, results can also apply to teleoperation. The proposed method considers extending our preliminary work where Smith prediction principle has been adapted on delayed haptic feedback interaction. We shall show that this proposed approach is easy to implement and is original since it investigates another way to formulate stable haptic feedback algorithms. It requires to know only the model of the master interface or the haptic display. Stability and robustness analysis are thoroughly discussed. Experimental results and comparison with wave variables are discussed.</EA>
<CC>001D02D04; 001D02C02</CC>
<FD>Commande intelligente; Rétroaction; Système paramètre variable; Téléopération; Stabilité; Robustesse; Réponse temporelle; Temps retard; Temps différé; Interaction; Interface utilisateur; Sensibilité tactile; Constante temps; Modélisation</FD>
<ED>Intelligent control; Feedback regulation; Time varying system; Remote operation; Stability; Robustness; Time response; Delay time; Delayed time; Interaction; User interface; Tactile sensitivity; Time constant; Modeling</ED>
<SD>Control inteligente; Retroacción; Sistema parámetro variable; Teleacción; Estabilidad; Robustez; Respuesta temporal; Tiempo retardo; Tiempo diferido; Interacción; Interfase usuario; Sensibilidad tactil; Constante tiempo; Modelización</SD>
<LO>INIST-Y 37941.354000117759711520</LO>
<ID>04-0216735</ID>
</server>
</inist>
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Master-model based time-delayed force feedback interaction: Experimental results

Master-model based time-delayed force feedback interaction: Experimental results

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