Transparency Enhancement of Haptic Interface Using Model Matching Approach

被引：0
|
作者：
Desai, Indrajit [1 ]
Gupta, Abhishek [1 ]
Chakraborty, Debraj [2 ]
机构：
[1] Indian Inst Technol, Dept Mech Engn, Bombay 400076, Maharashtra, India
[2] Indian Inst Technol, Dept Elect Engn, Bombay 400076, Maharashtra, India
来源：
2016 INDIAN CONTROL CONFERENCE (ICC) | 2016年
关键词：
QUANTIZATION; PASSIVITY;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a model matching approach for impedance control of haptic interfaces using the H-infinity control framework. The force applied by the operator is considered to an exogenous input, and the controller is designed to maximize transparency. Through simulations, it is demonstrated that the proposed approach can be used to enhance transparency of a haptic interface, and to simulate stiffer virtual walls than possible with an open loop impedance controller.
引用
收藏
页码：399 / 404
页数：6
相关论文
共 50 条
  • [1] Haptic interface transparency achieved through viscous coupling
    Mohand-Ousaid, Abdenbi
    Millet, Guillaume
    Regnier, Stephane
    Haliyo, Sinan
    Hayward, Vincent
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2012, 31 (03): : 319 - 329
  • [2] TRANSPARENCY ENHANCEMENT OF HAPTIC SYSTEMS BASED ON COMPENSATION OF DEVICE DYNAMICS
    Tajaddodianfar, F.
    Ahmadian, M. T.
    Vossoughi, G. R.
    Motamedi, M.
    IMECE 2009: PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, VOL 10, PTS A AND B, 2010, : 103 - 110
  • [3] A design method of haptic interface controller considering transparency and robust stability
    Eom, KS
    Suh, IH
    Yi, BJ
    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 2000, : 961 - 966
  • [4] Transparency of a phantom premium haptic interface for active and passive human interaction
    McJunkin, ST
    O'Malley, MK
    Speich, JE
    ACC: PROCEEDINGS OF THE 2005 AMERICAN CONTROL CONFERENCE, VOLS 1-7, 2005, : 3060 - 3065
  • [5] Analyzing Stability of Haptic Interface using Linear Matrix Inequality Approach
    Dang, Q. V.
    Vermeiren, L.
    Dequidt, A.
    Dambrine, M.
    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), 2012,
  • [6] Visual Haptic Interface by Using 2-DOF Indirect Haptic Interface
    Ishikawa, Takayuki
    Yano, Hiroaki
    Iwata, Hiroo
    HAPTIC INTERACTION: SCIENCE, ENGINEERING AND DESIGN, 2018, 432 : 467 - 472
  • [7] A Model Matching Framework for Haptic Controller Design
    Desai, Indrajit
    Gupta, Abhishek
    Chakraborty, Debraj
    2017 AMERICAN CONTROL CONFERENCE (ACC), 2017, : 1580 - 1585
  • [8] Rendering Stiff Virtual Walls Using Model Matching Based Haptic Controller
    Desai, Indrajit
    Gupta, Abhishek
    Chakraborty, Debraj
    IEEE TRANSACTIONS ON HAPTICS, 2019, 12 (02) : 166 - 178
  • [9] A new actuation approach for haptic interface design
    Conti, Francois
    Khatib, Oussama
    EXPERIMENTAL ROBOTICS, 2008, 39 : 441 - 450
  • [10] Transparency and Stability of An Haptic Trackball Interface for Bilateral Teleoperation of VTOL Aerial Robots
    Hou Xiaolei
    Qu Yaohong
    Yuan Dongli
    Xing Xiaojun
    Yan Jianguo
    2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 5136 - 5141
12345