HapticV1, PascalFrancis, Curation, bibRecord, 000D22

Analogue input shaper for haptic interfaces

Identifieur interne : 000D22 ( PascalFrancis/Curation ); précédent : 000D21; suivant : 000D23

Analogue input shaper for haptic interfaces

Auteurs : Y.-A. Lim [Corée du Sud] ; H.-S. Ahn [Corée du Sud] ; J. Ryu [Corée du Sud]

Source :

IET control theory & applications : (Print) [ 1751-8644 ] ; 2009.

RBID : Pascal:10-0047756

Descripteurs français

Pascal (Inist)
- Contrôle vibration, Système actif, Interface utilisateur, Sensibilité tactile, Haute fréquence, Collision, Instabilité, Transparence, Redresseur, Filtre non linéaire, Filtre passe bas, Correction entrée.

English descriptors

KwdEn :
- Active system, Collision, High frequency, Input shaping, Instability, Low pass filter, Non linear filter, Rectifier, Tactile sensitivity, Transparency, User interface, Vibration control.

Abstract

An analogue input shaper (AIS) is proposed as a means for stably increasing the displayable impedance range of haptic interfaces. Usually, high-frequency inputs can occur during collisions with very stitt virtual objects and induce instabilities. The proposed AIS is basically a nonlinear low-pass filter and acts as a frequency-dependent dissipative element, which can eliminate unwanted high-frequency inputs to haptic interfaces. The proposed AIS is not placed in the power stage but in the signal stage, so that the AIS can be designed independent of motor parameters and does not affect transparency in free motion. In addition, two linear half-wave rectifiers are incorporated into the AIS to allow for a fast decrease of impedance and no negative input to the haptic interface when a haptic pointer leaves a virtual object. Through virtual wall experiments using two different haptic interfaces, the effectiveness of the proposed AIS is shown.

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A08	`01`	`1`	`ENG`	`@1 Analogue input shaper for haptic interfaces`
A11	`01`	`1`		`@1 LIM (Y.-A.)`
A11	`02`	`1`		`@1 AHN (H.-S.)`
A11	`03`	`1`		`@1 RYU (J.)`
A14	`01`			`@1 Department of Mechatronics, Gwangju Institute of Science and Technology @2 Gwangju 500-712 @3 KOR @Z 1 aut. @Z 2 aut. @Z 3 aut.`
A20				`@1 1553-1564`
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A64	`01`	`1`		`@0 IET control theory & applications : (Print)`
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C01	`01`		`ENG`	@0 An analogue input shaper (AIS) is proposed as a means for stably increasing the displayable impedance range of haptic interfaces. Usually, high-frequency inputs can occur during collisions with very stitt virtual objects and induce instabilities. The proposed AIS is basically a nonlinear low-pass filter and acts as a frequency-dependent dissipative element, which can eliminate unwanted high-frequency inputs to haptic interfaces. The proposed AIS is not placed in the power stage but in the signal stage, so that the AIS can be designed independent of motor parameters and does not affect transparency in free motion. In addition, two linear half-wave rectifiers are incorporated into the AIS to allow for a fast decrease of impedance and no negative input to the haptic interface when a haptic pointer leaves a virtual object. Through virtual wall experiments using two different haptic interfaces, the effectiveness of the proposed AIS is shown.
C02	`01`	`X`		`@0 001D02D11`
C02	`02`	`X`		`@0 001D02B04`
C03	`01`	`X`	`FRE`	`@0 Contrôle vibration @5 06`
C03	`01`	`X`	`ENG`	`@0 Vibration control @5 06`
C03	`01`	`X`	`SPA`	`@0 Control vibración @5 06`
C03	`02`	`X`	`FRE`	`@0 Système actif @5 07`
C03	`02`	`X`	`ENG`	`@0 Active system @5 07`
C03	`02`	`X`	`SPA`	`@0 Sistema activo @5 07`
C03	`03`	`X`	`FRE`	`@0 Interface utilisateur @5 18`
C03	`03`	`X`	`ENG`	`@0 User interface @5 18`
C03	`03`	`X`	`SPA`	`@0 Interfase usuario @5 18`
C03	`04`	`X`	`FRE`	`@0 Sensibilité tactile @5 19`
C03	`04`	`X`	`ENG`	`@0 Tactile sensitivity @5 19`
C03	`04`	`X`	`SPA`	`@0 Sensibilidad tactil @5 19`
C03	`05`	`X`	`FRE`	`@0 Haute fréquence @5 20`
C03	`05`	`X`	`ENG`	`@0 High frequency @5 20`
C03	`05`	`X`	`SPA`	`@0 Alta frecuencia @5 20`
C03	`06`	`X`	`FRE`	`@0 Collision @5 21`
C03	`06`	`X`	`ENG`	`@0 Collision @5 21`
C03	`06`	`X`	`SPA`	`@0 Colisión @5 21`
C03	`07`	`X`	`FRE`	`@0 Instabilité @5 22`
C03	`07`	`X`	`ENG`	`@0 Instability @5 22`
C03	`07`	`X`	`SPA`	`@0 Inestabilidad @5 22`
C03	`08`	`X`	`FRE`	`@0 Transparence @5 23`
C03	`08`	`X`	`ENG`	`@0 Transparency @5 23`
C03	`08`	`X`	`SPA`	`@0 Transparencia @5 23`
C03	`09`	`X`	`FRE`	`@0 Redresseur @5 24`
C03	`09`	`X`	`ENG`	`@0 Rectifier @5 24`
C03	`09`	`X`	`SPA`	`@0 Rectificador @5 24`
C03	`10`	`X`	`FRE`	`@0 Filtre non linéaire @5 28`
C03	`10`	`X`	`ENG`	`@0 Non linear filter @5 28`
C03	`10`	`X`	`SPA`	`@0 Filtro no lineal @5 28`
C03	`11`	`X`	`FRE`	`@0 Filtre passe bas @5 29`
C03	`11`	`X`	`ENG`	`@0 Low pass filter @5 29`
C03	`11`	`X`	`SPA`	`@0 Filtro paso bajo @5 29`
C03	`12`	`X`	`FRE`	`@0 Correction entrée @5 33`
C03	`12`	`X`	`ENG`	`@0 Input shaping @5 33`
C03	`12`	`X`	`SPA`	`@0 Corrección entrada @5 33`
N21				`@1 032`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

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Pascal:10-0047756

Le document en format XML

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<front><div type="abstract" xml:lang="en">An analogue input shaper (AIS) is proposed as a means for stably increasing the displayable impedance range of haptic interfaces. Usually, high-frequency inputs can occur during collisions with very stitt virtual objects and induce instabilities. The proposed AIS is basically a nonlinear low-pass filter and acts as a frequency-dependent dissipative element, which can eliminate unwanted high-frequency inputs to haptic interfaces. The proposed AIS is not placed in the power stage but in the signal stage, so that the AIS can be designed independent of motor parameters and does not affect transparency in free motion. In addition, two linear half-wave rectifiers are incorporated into the AIS to allow for a fast decrease of impedance and no negative input to the haptic interface when a haptic pointer leaves a virtual object. Through virtual wall experiments using two different haptic interfaces, the effectiveness of the proposed AIS is shown.</div>
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<fC01 i1="01" l="ENG"><s0>An analogue input shaper (AIS) is proposed as a means for stably increasing the displayable impedance range of haptic interfaces. Usually, high-frequency inputs can occur during collisions with very stitt virtual objects and induce instabilities. The proposed AIS is basically a nonlinear low-pass filter and acts as a frequency-dependent dissipative element, which can eliminate unwanted high-frequency inputs to haptic interfaces. The proposed AIS is not placed in the power stage but in the signal stage, so that the AIS can be designed independent of motor parameters and does not affect transparency in free motion. In addition, two linear half-wave rectifiers are incorporated into the AIS to allow for a fast decrease of impedance and no negative input to the haptic interface when a haptic pointer leaves a virtual object. Through virtual wall experiments using two different haptic interfaces, the effectiveness of the proposed AIS is shown.</s0>
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	Serveur d'exploration sur les dispositifs haptiques
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Serveur d'exploration sur les dispositifs haptiques

Analogue input shaper for haptic interfaces

Analogue input shaper for haptic interfaces

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Descripteurs français

English descriptors

Abstract

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