HapticV1, PascalFrancis, Curation, bibRecord, 000D02

Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward

Identifieur interne : 000D02 ( PascalFrancis/Curation ); précédent : 000D01; suivant : 000D03

Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward

Auteurs : Jorge Juan Gil [Espagne] ; Angel Rubio [Espagne] ; Joan Savall [Espagne]

Source :

IEEE transactions on control systems technology [ 1063-6536 ] ; 2009.

RBID : Pascal:09-0472846

Descripteurs français

Pascal (Inist)
- Boucle anticipation, Homme, Temps discret, Inertie, Sensibilité tactile, Comportement utilisateur, Domaine travail, Bras, Facteur humain.
Wicri :
- topic : Homme.

English descriptors

KwdEn :
- Arm, Discrete time, Feedforward, Human, Human factor, Inertia, Tactile sensitivity, User behavior, Workspace.

Abstract

When using a haptic device in unconstrained movement, the user should experience only minor inertia. For certain tasks, the workspace of the device should be similar or even larger than that of the human arm. This condition tends to lead to large devices that often present high rather than low inertia. This brief describes a method to decrease the inertia felt by users of impedance haptic devices. It has been successfully implemented in the LHIfAM haptic device. The effect that this strategy has on stability and virtual contact is also illustrated.

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A11	`02`	`1`		`@1 RUBIO (Angel)`
A11	`03`	`1`		`@1 SAVALL (Joan)`
A14	`01`			`@1 Applied Mechanics Department, CEIT and TECNUN, University of Navarra @2 20018 San Sebastián @3 ESP @Z 1 aut. @Z 2 aut. @Z 3 aut.`
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C03	`02`	`X`	`SPA`	`@0 Hombre @5 07`
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C03	`03`	`X`	`SPA`	`@0 Tiempo discreto @5 08`
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C03	`04`	`X`	`ENG`	`@0 Inertia @5 18`
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C03	`06`	`X`	`SPA`	`@0 Comportamiento usuario @5 20`
C03	`07`	`X`	`FRE`	`@0 Domaine travail @5 21`
C03	`07`	`X`	`ENG`	`@0 Workspace @5 21`
C03	`07`	`X`	`SPA`	`@0 Dominio trabajo @5 21`
C03	`08`	`X`	`FRE`	`@0 Bras @5 22`
C03	`08`	`X`	`ENG`	`@0 Arm @5 22`
C03	`08`	`X`	`SPA`	`@0 Brazo @5 22`
C03	`09`	`X`	`FRE`	`@0 Facteur humain @5 23`
C03	`09`	`X`	`ENG`	`@0 Human factor @5 23`
C03	`09`	`X`	`SPA`	`@0 Factor humano @5 23`
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Pascal:09-0472846

Le document en format XML

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Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward

Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri