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Dynamics Modeling for Parallel Haptic Interfaces with Force Sensing and Control | IEEE Journals & Magazine | IEEE Xplore

Dynamics Modeling for Parallel Haptic Interfaces with Force Sensing and Control


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 emp...Show More

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.
Published in: IEEE Transactions on Haptics ( Volume: 6, Issue: 4, Oct.-Dec. 2013)
Page(s): 429 - 439
Date of Publication: 12 February 2013

ISSN Information:

PubMed ID: 24808395

1 Introduction

Haptic interfaces (HIs) are distinguished from other forms of human-computer interaction by a mechanical two-way information exchange, mediated by a manipulandum that enforces relationships between user motions and efforts. A stylus is a common interaction tool when precision is needed, enabling both motion and effort signals to be interchanged in multiple degrees of freedom.

References

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