Name
Abstract | ||
|---|---|---|
Closed-loop force control can be used on haptic interfaces (HIs) to mitigate the effects of mechanism dynamics. A single multidimensional force-torque sensor is often employed to measure the interaction force between the haptic device and the user's hand. The parallel haptic interface at the University of Colorado (CU) instead employs smaller 1D force sensors oriented along each of the five actuating rods to build up a 5D force vector. This paper shows that a particular manipulandum/hand partition in the system dynamics is induced by the placement and type of force sensing, and discusses the implications on force and impedance control for parallel haptic interfaces. The details of a "squaring down" process are also discussed, showing how to obtain reduced degree-of-freedom models from the general six degree-of-freedom dynamics formulation. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/TOH.2013.3 | Haptics, IEEE Transactions |
Keywords | Field | DocType |
degree-of-freedom model,force vector,parallel haptic interfaces,parallel haptic interface,interaction force,closed-loop force control,dynamics modeling,haptic interface,hand partition,degree-of-freedom dynamics formulation,force sensing,force sensor,haptic device,user interfaces,actuators,parallel interface,dynamics | Computer science,Simulation,Control engineering,Impedance control,System dynamics,User interface,Parallel port,Haptic technology,Actuator | Journal |
Volume | Issue | ISSN |
6 | 4 | 2329-4051 |
Citations | PageRank | References |
1 | 0.40 | 7 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nicholas Bernstein | 1 | 1 | 0.40 |
| Dale Lawrence | 2 | 95 | 8.62 |
| Lucy Y. Pao | 3 | 499 | 87.10 |