Title :
Positive feedback of reaction force for environmental embedded haptic system
Author :
Nagai, Hiroyuki ; Katsura, Seiichiro
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
Abstract :
Technology and science have been developing rapidly, and robotic system for human support has been researched recently. Considering the effect of low birthrate and longevity, the system is thought to become important in the future. In this research, environmental embedded haptic system for human support is developed. In order to realize the haptic system, impedance control with positive feedback is proposed. In this research, the stability analysis of the system is mainly focused on, and it is conducted by displacement poles. The validity of the proposed method is shown by simulation and experimental results.
Keywords :
feedback; haptic interfaces; human-robot interaction; service robots; stability; environmental embedded haptic system; human support; impedance control; positive feedback; reaction force; robotic system; stability analysis; Force; Haptic interfaces; Humans; Impedance; Observers; Robots; Stability analysis;
Conference_Titel :
Advanced Motion Control (AMC), 2012 12th IEEE International Workshop on
Conference_Location :
Sarajevo
Print_ISBN :
978-1-4577-1072-8
Electronic_ISBN :
978-1-4577-1071-1
DOI :
10.1109/AMC.2012.6197103
