Force display using a hybrid haptic device composed of motors and brakes
Identifieur interne : 000734 ( PascalFrancis/Curation ); précédent : 000733; suivant : 000735Force display using a hybrid haptic device composed of motors and brakes
Auteurs : Tae-Bum Kwon [Corée du Sud] ; Jae-Bok Song [Corée du Sud]Source :
- Mechatronics : (Oxford) [ 0957-4158 ] ; 2006.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Réalité virtuelle.
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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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.</div></front></TEI><inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0957-4158</s0></fA01><fA03 i2="1"><s0>Mechatronics : (Oxf.)</s0></fA03><fA05><s2>16</s2></fA05><fA06><s2>5</s2></fA06><fA08 i1="01" i2="1" l="ENG"><s1>Force display using a hybrid haptic device composed of motors and brakes</s1></fA08><fA11 i1="01" i2="1"><s1>KWON (Tae-Bum)</s1></fA11><fA11 i1="02" i2="1"><s1>SONG (Jae-Bok)</s1></fA11><fA14 i1="01"><s1>Department of Mechanical Engineering, Korea University, 5, Anam-Dong</s1><s2>Seongbuk-Gu, Seoul 136-713</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></fA14><fA20><s1>249-257</s1></fA20><fA21><s1>2006</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA43 i1="01"><s1>INIST</s1><s2>22113</s2><s5>354000156586520020</s5></fA43><fA44><s0>0000</s0><s1>© 2006 INIST-CNRS. 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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. 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