Title :
Impedance control approach vs. adaptive nonlinear design in simulated push-button haptic interface
Author :
Allotta, Benedetto ; Colla, Valentina ; Bioli, Gianluca ; Conticelli, Fabio
Author_Institution :
Scula Superiore Sant´´Anna, Pisa, Italy
Abstract :
General purpose haptic interfaces are receiving increasing attention, because they can simulate different kinds of interaction between user and virtual objects/environments. The paper describes the control of a special-purpose haptic interface devoted to simulating the behavior of a push button, with the aim of performing user tests on different geometries and designs. The control task is to provide a reaction to the external solicitation as similar as possible to that of real buttons
Keywords :
adaptive control; force control; haptic interfaces; nonlinear control systems; virtual reality; adaptive nonlinear design; control task; impedance control approach; simulated push-button haptic interface; user tests; virtual environments; virtual objects; Adaptive control; Force measurement; Force sensors; Geometry; Haptic interfaces; Hardware; Impedance; Programmable control; Springs; Testing;
Conference_Titel :
Robot and Human Interaction, 1999. RO-MAN '99. 8th IEEE International Workshop on
Conference_Location :
Pisa
Print_ISBN :
0-7803-5841-4
DOI :
10.1109/ROMAN.1999.900353
