Title :
Force feedback control: linear and nonlinear teleoperative systems and applications involving the disabled
Author :
Phillips, C.A. ; Repperger, D.W. ; Chelette, T.L.
Author_Institution :
Dept. of Biomed. & Human Factors Eng., Wright State Univ., Dayton, OH, USA
Abstract :
The application of theoretical concepts and other principles from studies of force feedback control systems in robotics can be used to better understand a teleoperative system. Within the context of a robotic system, the teleoperation problem can be viewed as a strictly force control system in which the end-effector must maintain a specified force pattern on the environment. An analysis is conducted of a system from an ongoing experiment. This experiment involves disabled people and normals participating in a study to analyze the effect on performance of different types of force feedback algorithms and target tracking tasks
Keywords :
telerobotics; disabled; disabled people; end-effector; force feedback control; force pattern; linear teleoperative systems; nonlinear teleoperative systems; normals; performance; robotics; target tracking tasks; teleoperative system; Delay effects; Displays; Force control; Force feedback; Humans; Linear feedback control systems; Muscles; Position control; Reflection; Robots;
Conference_Titel :
Engineering in Medicine and Biology Society, 1994. Engineering Advances: New Opportunities for Biomedical Engineers. Proceedings of the 16th Annual International Conference of the IEEE
Conference_Location :
Baltimore, MD
Print_ISBN :
0-7803-2050-6
DOI :
10.1109/IEMBS.1994.415312
