DocumentCode :
741476
Title :
Dynamics Modeling for Parallel Haptic Interfaces with Force Sensing and Control
Author :
Bernstein, Nicholas ; Lawrence, Dale ; Pao, Lucy
Author_Institution :
Surg., Inc., Sunnyvale, CA, USA
Volume :
6
Issue :
4
fYear :
2013
Firstpage :
429
Lastpage :
439
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.
Keywords :
closed loop systems; force control; force sensors; manipulator dynamics; 5D force vector; University of Colorado; closed-loop force control; force control; force sensing; impedance control; manipulandum-hand partition; parallel haptic interfaces; single multidimensional force-torque sensor; Actuators; Dynamics; Force measurement; Force sensors; Haptic interfaces; User interfaces; Parallel interface; dynamics modeling; force control; force sensing; perceived impedance; squaring down;
fLanguage :
English
Journal_Title :
Haptics, IEEE Transactions on
Publisher :
ieee
ISSN :
1939-1412
Type :
jour
DOI :
10.1109/TOH.2013.3
Filename :
6461018
Link To Document :
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