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
  • [31] A Haptic Interface with Adjustable Stiffness Using MR Fluid
    Somlor, Sophon
    Dominguez, Gonzalo Aguirre
    Schmitz, Alexander
    Kamezaki, Mitsuhiro
    Sugano, Shigeki
    2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2015, : 1132 - 1137
  • [32] A haptic interface using a force-feedback joystick
    Ko, Ae-Kyoung
    Choi, Joon-Young
    PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8, 2007, : 202 - 207
  • [33] Upper limb motion analysis using haptic interface
    Bardorfer, A
    Munih, M
    Zupan, A
    Primozic, A
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2001, 6 (03) : 253 - 260
  • [34] Teaching to write Japanese characters using a Haptic Interface
    Solis, J
    Avizzano, CA
    Bergamasco, M
    10TH SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS, 2002, : 255 - 262
  • [35] Stability of haptic interface using nonlinear virtual coupling
    Lee, MH
    Lee, DY
    2003 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOLS 1-5, CONFERENCE PROCEEDINGS, 2003, : 3420 - 3424
  • [36] Model-based teleoperation of a space robot on ETS-VII using a haptic interface
    Yoon, WK
    Goshozono, T
    Kawabe, H
    Kinami, M
    Tsumaki, Y
    Uchiyama, M
    Oda, M
    Doi, T
    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 407 - 412
  • [37] Enhancement of sense of ownership using virtual and haptic feedback
    Samirah Altukhaim
    Daniel George
    Kiruba Nagaratnam
    Toshiyuki Kondo
    Yoshikatsu Hayashi
    Scientific Reports, 14
  • [38] Enhancement of sense of ownership using virtual and haptic feedback
    Altukhaim, Samirah
    George, Daniel
    Nagaratnam, Kiruba
    Kondo, Toshiyuki
    Hayashi, Yoshikatsu
    SCIENTIFIC REPORTS, 2024, 14 (01)
  • [39] Fault tolerant control using an admissible model matching approach
    Staroswiecki, M.
    2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8, 2005, : 2421 - 2426
  • [40] Modeling Haptic Data Transfer Processes through a Thermal Interface using an Equivalent Electric Circuit Approach
    Shani, Yosef
    Lineykin, Simon
    PROCEEDINGS OF THE 14TH INTERNATIONAL JOINT CONFERENCE ON BIOMEDICAL ENGINEERING SYSTEMS AND TECHNOLOGIES, VOL 3: BIOINFORMATICS, 2021, : 127 - 135
12345