DocumentCode :
1159738
Title :
The dynamics and control of a haptic interface device
Author :
Kazerooni, H. ; Her, Ming-Guo
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Volume :
10
Issue :
4
fYear :
1994
fDate :
8/1/1994 12:00:00 AM
Firstpage :
453
Lastpage :
464
Abstract :
Haptic interface devices are machines that are controlled by the human arm contact forces. These devices are necessary elements of virtual reality machines. These devices may be programmed to give the human arm the sensation of forces associated with various arbitrary maneuvers. As examples, these devices can give the human the sensation that he/she is maneuvering a mass, or pushing onto a spring or a damper. In general, these devices may be programmed for any trajectory-dependent force. To illustrate and verify the analysis of these machines, a two-degree-of-freedom electrically-powered haptic interface device was designed and built at the Human Engineering Laboratory (HEL) of the University of California-Berkeley
Keywords :
dynamics; ergonomics; man-machine systems; virtual reality; Human Engineering Laboratory; University of California-Berkeley; control; dynamics; haptic interface device; human arm contact forces; trajectory-dependent force; virtual reality machines; Centralized control; Feedback loop; Force control; Force feedback; Haptic interfaces; Humans; Muscles; Nonlinear dynamical systems; Transfer functions; Vectors;
fLanguage :
English
Journal_Title :
Robotics and Automation, IEEE Transactions on
Publisher :
ieee
ISSN :
1042-296X
Type :
jour
DOI :
10.1109/70.313096
Filename :
313096
Link To Document :
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