HapticV1, PascalFrancis, Curation, bibRecord, 000105

Sliding mode friction compensation for a 20 DOF sensor glove

Identifieur interne : 000105 ( PascalFrancis/Curation ); précédent : 000104; suivant : 000106

Sliding mode friction compensation for a 20 DOF sensor glove

Auteurs : Péter Korondi [Japon] ; Péter T. Szemes [Japon] ; Hideki Hasimoto [Japon]

Source :

Journal of dynamic systems, measurement, and control [ 0022-0434 ] ; 2000.

RBID : Pascal:01-0262545

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.
Wicri :
- topic : Homme, Observateur.

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.

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A06				`@2 4`
A08	`01`	`1`	`ENG`	`@1 Sliding mode friction compensation for a 20 DOF sensor glove`
A09	`01`	`1`	`ENG`	`@1 Special Issue on Variable Structure Systems`
A11	`01`	`1`		`@1 KORONDI (Péter)`
A11	`02`	`1`		`@1 SZEMES (Péter T.)`
A11	`03`	`1`		`@1 HASIMOTO (Hideki)`
A12	`01`	`1`		`@1 MISAWA (Eduardo A.) @9 ed.`
A12	`02`	`1`		`@1 UTKIN (Vadim) @9 ed.`
A14	`01`			`@1 Institute of industrial Science, University of Tokyo, 7-22-1, Roppongi @2 Minato, Tokyo 106 @3 JPN @Z 1 aut. @Z 2 aut. @Z 3 aut.`
A15	`01`			`@1 School of Mechanical and Aerospace Engineering, Oklahoma State University @2 Stillwater, OK 74078-5016 @3 USA @Z 1 aut.`
A15	`02`			`@1 Department of Electrical Engineering, The Ohio State University @2 Columbus, OH 43210 @3 USA @Z 2 aut.`
A20				`@1 611-615`
A21				`@1 2000`
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C01	`01`		`ENG`	@0 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.
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C03	`03`	`X`	`FRE`	`@0 Contrainte frottement @5 03`
C03	`03`	`X`	`ENG`	`@0 Friction stress @5 03`
C03	`03`	`X`	`SPA`	`@0 Tensión rozamiento @5 03`
C03	`04`	`X`	`FRE`	`@0 Frottement glissement @5 04`
C03	`04`	`X`	`ENG`	`@0 Sliding friction @5 04`
C03	`04`	`X`	`SPA`	`@0 Frotamiento deslizamiento @5 04`
C03	`05`	`X`	`FRE`	`@0 Homme @5 05`
C03	`05`	`X`	`ENG`	`@0 Human @5 05`
C03	`05`	`X`	`SPA`	`@0 Hombre @5 05`
C03	`06`	`X`	`FRE`	`@0 Téléopération @5 06`
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C03	`06`	`X`	`SPA`	`@0 Teleacción @5 06`
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C03	`08`	`X`	`FRE`	`@0 Frottement @5 08`
C03	`08`	`X`	`ENG`	`@0 Friction @5 08`
C03	`08`	`X`	`SPA`	`@0 Frotamiento @5 08`
C03	`09`	`X`	`FRE`	`@0 Observateur @5 09`
C03	`09`	`X`	`ENG`	`@0 Observer @5 09`
C03	`09`	`X`	`SPA`	`@0 Observador @5 09`
C03	`10`	`X`	`FRE`	`@0 Estimateur @5 10`
C03	`10`	`X`	`ENG`	`@0 Estimator @5 10`
C03	`10`	`X`	`SPA`	`@0 Estimador @5 10`
C03	`11`	`X`	`FRE`	`@0 Haute performance @5 11`
C03	`11`	`X`	`ENG`	`@0 High performance @5 11`
C03	`11`	`X`	`SPA`	`@0 Alto rendimiento @5 11`
C03	`12`	`X`	`FRE`	`@0 Boucle réaction @5 12`
C03	`12`	`X`	`ENG`	`@0 Feedback @5 12`
C03	`12`	`X`	`SPA`	`@0 Retroalimentación @5 12`
C03	`13`	`X`	`FRE`	`@0 Rétroaction @5 13`
C03	`13`	`X`	`ENG`	`@0 Feedback regulation @5 13`
C03	`13`	`X`	`SPA`	`@0 Retroacción @5 13`
C03	`14`	`X`	`FRE`	`@0 Modélisation @5 14`
C03	`14`	`X`	`ENG`	`@0 Modeling @5 14`
C03	`14`	`X`	`SPA`	`@0 Modelización @5 14`
C03	`15`	`X`	`FRE`	`@0 Broutage machine @5 15`
C03	`15`	`X`	`ENG`	`@0 Chatter @5 15`
C03	`15`	`X`	`SPA`	`@0 Chirrido @5 15`
C03	`16`	`X`	`FRE`	`@0 Mode glissant @5 16`
C03	`16`	`X`	`ENG`	`@0 Sliding mode @5 16`
C03	`16`	`X`	`SPA`	`@0 Modo deslizante @5 16`
C03	`17`	`X`	`FRE`	`@0 Compensateur @5 17`
C03	`17`	`X`	`ENG`	`@0 Compensator @5 17`
C03	`17`	`X`	`SPA`	`@0 Compensador @5 17`
C03	`18`	`X`	`FRE`	`@0 Etude expérimentale @5 18`
C03	`18`	`X`	`ENG`	`@0 Experimental study @5 18`
C03	`18`	`X`	`SPA`	`@0 Estudio experimental @5 18`
C03	`19`	`X`	`FRE`	`@0 Gant @5 19`
C03	`19`	`X`	`ENG`	`@0 Glove @5 19`
C03	`19`	`X`	`SPA`	`@0 Guante @5 19`
C03	`20`	`X`	`FRE`	`@0 Sensibilité tactile @5 20`
C03	`20`	`X`	`ENG`	`@0 Tactile sensitivity @5 20`
C03	`20`	`X`	`SPA`	`@0 Sensibilidad tactil @5 20`
C03	`21`	`X`	`FRE`	`@0 Degré liberté @5 21`
C03	`21`	`X`	`ENG`	`@0 Freedom degree @5 21`
C03	`21`	`X`	`SPA`	`@0 Grado libertad @5 21`
N21				`@1 183`

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Pascal:01-0262545

Le document en format XML

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<s5>11</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>High performance</s0>
<s5>11</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Alto rendimiento</s0>
<s5>11</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Boucle réaction</s0>
<s5>12</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Feedback</s0>
<s5>12</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Retroalimentación</s0>
<s5>12</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Rétroaction</s0>
<s5>13</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Feedback regulation</s0>
<s5>13</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Retroacción</s0>
<s5>13</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>14</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Modeling</s0>
<s5>14</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Modelización</s0>
<s5>14</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Broutage machine</s0>
<s5>15</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Chatter</s0>
<s5>15</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Chirrido</s0>
<s5>15</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Mode glissant</s0>
<s5>16</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Sliding mode</s0>
<s5>16</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Modo deslizante</s0>
<s5>16</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Compensateur</s0>
<s5>17</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Compensator</s0>
<s5>17</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Compensador</s0>
<s5>17</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>18</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>18</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>18</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Gant</s0>
<s5>19</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Glove</s0>
<s5>19</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Guante</s0>
<s5>19</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>20</s5>
</fC03>
<fC03 i1="20" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>20</s5>
</fC03>
<fC03 i1="20" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>20</s5>
</fC03>
<fC03 i1="21" i2="X" l="FRE"><s0>Degré liberté</s0>
<s5>21</s5>
</fC03>
<fC03 i1="21" i2="X" l="ENG"><s0>Freedom degree</s0>
<s5>21</s5>
</fC03>
<fC03 i1="21" i2="X" l="SPA"><s0>Grado libertad</s0>
<s5>21</s5>
</fC03>
<fN21><s1>183</s1>
</fN21>
</pA>
</standard>
</inist>
</record>

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Sliding mode friction compensation for a 20 DOF sensor glove

Sliding mode friction compensation for a 20 DOF sensor glove

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