Name
Abstract | ||
|---|---|---|
Rigid haptic devices enable humans to physically interact with virtual environments, and the range of impedances that can be safely rendered using these rigid devices is quantified by the Z-Width metric. Series elastic actuators (SEAs) similarly modulate the impedance felt by the human operator when interacting with a robotic device, and, in particular, the robot's perceived stiffness can be controlled by changing the elastic element's equilibrium position. In this paper, we explore the K-Width of SEAs, while specifically focusing on how discretization inherent in the computer-control architecture affects the system's passivity. We first propose a hybrid model for a single degree-of-freedom (DoF) SEA based on prior hybrid models for rigid haptic systems. Next, we derive a closed-form bound on the K-Width of SEAs that is a generalization of known constraints for both rigid haptic systems and continuous time SEA models. This bound is first derived under a continuous time approximation, and is then numerically supported with discrete time analysis. Finally, experimental results validate our finding that large pure masses are the most destabilizing operator in human-SEA interactions, and demonstrate the accuracy of our theoretical K-Width bound. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/ICRA.2017.7989054 | 2017 IEEE International Conference on Robotics and Automation (ICRA) |
Keywords | Field | DocType |
series elastic actuators,rigid haptic devices,virtual environment,SEA,robot perceived stiffness,elastic element equilibrium position,computer-control architecture,rigid haptic systems,continuous time SEA models,discrete time analysis | Discretization,Mechanical equilibrium,Stiffness,Control theory,Control engineering,Operator (computer programming),Discrete time and continuous time,Engineering,Robot,Haptic technology,Actuator | Conference |
Volume | Issue | ISBN |
2017 | 1 | 978-1-5090-4634-8 |
Citations | PageRank | References |
0 | 0.34 | 7 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| dylan p losey | 1 | 52 | 10.77 |
| Marcia K. O'Malley | 2 | 456 | 74.32 |