Path-following control for dissipative passive haptic displays

Author

Swanson, Davin K. ; Book, Wayne J.

Author_Institution

George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

fYear

2003

fDate

22-23 March 2003

Firstpage

101

Lastpage

108

Abstract

This paper addresses the problem of following an arbitrary path with a dissipative passive haptic display. Such a display has energetically passive actuators; all motive energy must come initially from the human operator and the display may then in general dissipate, redirect, and/or store the energy. Due to the passive restriction conventional haptic control techniques are not applicable. Three control concepts addressing this problem are presented. Simulated and experimental results are provided for these controllers as implemented on a 2 DOF dissipative haptic testbed with additional coupling elements.

Keywords

actuators; computer displays; haptic interfaces; 2 DOF dissipative haptic testbed; coupling elements; dissipative passive haptic displays; experimental results; haptic control techniques; human operator; motive energy; passive actuators; path-following control; Actuators; Books; Displays; Haptic interfaces; Humans; Impedance; Kinematics; Mechanical engineering; Safety; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings. 11th Symposium on

Print_ISBN

0-7695-1890-7

Type

conf

DOI

10.1109/HAPTIC.2003.1191245

Filename

1191245