Sliding mode friction compensation for a 20 DOF sensor glove
Identifieur interne : 001407 ( PascalFrancis/Corpus ); précédent : 001406; suivant : 001408Sliding mode friction compensation for a 20 DOF sensor glove
Auteurs : Péter Korondi ; Péter T. Szemes ; Hideki HasimotoSource :
- Journal of dynamic systems, measurement, and control [ 0022-0434 ] ; 2000.
Descripteurs français
- Pascal (Inist)
- Evaluation performance, Système structure variable, Contrainte frottement, Frottement glissement, Homme, Téléopération, Capteur mesure, Frottement, Observateur, Estimateur, Haute performance, Boucle réaction, Rétroaction, Modélisation, Broutage machine, Mode glissant, Compensateur, Etude expérimentale, Gant, Sensibilité tactile, Degré liberté.
English descriptors
- KwdEn :
- Chatter, Compensator, Estimator, Experimental study, Feedback, Feedback regulation, Freedom degree, Friction, Friction stress, Glove, High performance, Human, Measurement sensor, Modeling, Observer, Performance evaluation, Remote operation, Sliding friction, Sliding mode, Tactile sensitivity, Variable structure system.
Abstract
A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
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Format Inist (serveur)
NO : | PASCAL 01-0262545 CRAN |
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ET : | Sliding mode friction compensation for a 20 DOF sensor glove |
AU : | KORONDI (Péter); SZEMES (Péter T.); HASIMOTO (Hideki); MISAWA (Eduardo A.); UTKIN (Vadim) |
AF : | Institute of industrial Science, University of Tokyo, 7-22-1, Roppongi/Minato, Tokyo 106/Japon (1 aut., 2 aut., 3 aut.); School of Mechanical and Aerospace Engineering, Oklahoma State University/Stillwater, OK 74078-5016/Etats-Unis (1 aut.); Department of Electrical Engineering, The Ohio State University/Columbus, OH 43210/Etats-Unis (2 aut.) |
DT : | Publication en série; Niveau analytique |
SO : | Journal of dynamic systems, measurement, and control; ISSN 0022-0434; Coden JDSMAA; Etats-Unis; Da. 2000; Vol. 122; No. 4; Pp. 611-615; Bibl. 12 ref. |
LA : | Anglais |
EA : | A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom. |
CC : | 001D02D06 |
FD : | Evaluation performance; Système structure variable; Contrainte frottement; Frottement glissement; Homme; Téléopération; Capteur mesure; Frottement; Observateur; Estimateur; Haute performance; Boucle réaction; Rétroaction; Modélisation; Broutage machine; Mode glissant; Compensateur; Etude expérimentale; Gant; Sensibilité tactile; Degré liberté |
ED : | Performance evaluation; Variable structure system; Friction stress; Sliding friction; Human; Remote operation; Measurement sensor; Friction; Observer; Estimator; High performance; Feedback; Feedback regulation; Modeling; Chatter; Sliding mode; Compensator; Experimental study; Glove; Tactile sensitivity; Freedom degree |
SD : | Evaluación prestación; Sistema estructura variable; Tensión rozamiento; Frotamiento deslizamiento; Hombre; Teleacción; Captador medida; Frotamiento; Observador; Estimador; Alto rendimiento; Retroalimentación; Retroacción; Modelización; Chirrido; Modo deslizante; Compensador; Estudio experimental; Guante; Sensibilidad tactil; Grado libertad |
LO : | INIST-6120G |
ID : | 01-0262545 |
Links to Exploration step
Pascal:01-0262545Le document en format XML
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<keywords scheme="Pascal" xml:lang="fr"><term>Evaluation performance</term>
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<front><div type="abstract" xml:lang="en">A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom.</div>
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<server><NO>PASCAL 01-0262545 CRAN</NO>
<ET>Sliding mode friction compensation for a 20 DOF sensor glove</ET>
<AU>KORONDI (Péter); SZEMES (Péter T.); HASIMOTO (Hideki); MISAWA (Eduardo A.); UTKIN (Vadim)</AU>
<AF>Institute of industrial Science, University of Tokyo, 7-22-1, Roppongi/Minato, Tokyo 106/Japon (1 aut., 2 aut., 3 aut.); School of Mechanical and Aerospace Engineering, Oklahoma State University/Stillwater, OK 74078-5016/Etats-Unis (1 aut.); Department of Electrical Engineering, The Ohio State University/Columbus, OH 43210/Etats-Unis (2 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Journal of dynamic systems, measurement, and control; ISSN 0022-0434; Coden JDSMAA; Etats-Unis; Da. 2000; Vol. 122; No. 4; Pp. 611-615; Bibl. 12 ref.</SO>
<LA>Anglais</LA>
<EA>A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom.</EA>
<CC>001D02D06</CC>
<FD>Evaluation performance; Système structure variable; Contrainte frottement; Frottement glissement; Homme; Téléopération; Capteur mesure; Frottement; Observateur; Estimateur; Haute performance; Boucle réaction; Rétroaction; Modélisation; Broutage machine; Mode glissant; Compensateur; Etude expérimentale; Gant; Sensibilité tactile; Degré liberté</FD>
<ED>Performance evaluation; Variable structure system; Friction stress; Sliding friction; Human; Remote operation; Measurement sensor; Friction; Observer; Estimator; High performance; Feedback; Feedback regulation; Modeling; Chatter; Sliding mode; Compensator; Experimental study; Glove; Tactile sensitivity; Freedom degree</ED>
<SD>Evaluación prestación; Sistema estructura variable; Tensión rozamiento; Frotamiento deslizamiento; Hombre; Teleacción; Captador medida; Frotamiento; Observador; Estimador; Alto rendimiento; Retroalimentación; Retroacción; Modelización; Chirrido; Modo deslizante; Compensador; Estudio experimental; Guante; Sensibilidad tactil; Grado libertad</SD>
<LO>INIST-6120G</LO>
<ID>01-0262545</ID>
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