TY - GEN
T1 - ACHIEVING A MASSLESS HAPTIC INTERFACE
AU - Stoianovici, Dan
AU - Richer, Edmond
AU - Ephanov, Anton
AU - Hurmuziu, Yildirim
N1 - Funding Information:
This material is based upon work supported by the Texas Laboratory Commission. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the Texas Laboratory Commission.
Publisher Copyright:
© 1997 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1997
Y1 - 1997
N2 - Transparency is an important characteristic that has to be achieved in a haptic interface. In an exoskeletal device, this requirement translates into an active compensation scheme that renders a massless mechanism. Specifically, one has to balance gravitational, Coriolis, and inertia forces/torques of the mechanical structure. The success of such compensation methods strictly relies on an effective identification of the system parameters that appear in the dynamic equations of the interface. In this paper we apply a novel parameter identification method that achieves this task. We conduct a set of experiments to evaluate the transparency of the Pneumatic Haptic Interface (?) developed in the Systems Laboratory at Southern Methodist University.
AB - Transparency is an important characteristic that has to be achieved in a haptic interface. In an exoskeletal device, this requirement translates into an active compensation scheme that renders a massless mechanism. Specifically, one has to balance gravitational, Coriolis, and inertia forces/torques of the mechanical structure. The success of such compensation methods strictly relies on an effective identification of the system parameters that appear in the dynamic equations of the interface. In this paper we apply a novel parameter identification method that achieves this task. We conduct a set of experiments to evaluate the transparency of the Pneumatic Haptic Interface (?) developed in the Systems Laboratory at Southern Methodist University.
UR - https://www.scopus.com/pages/publications/85089445015
UR - https://www.scopus.com/pages/publications/85089445015#tab=citedBy
U2 - 10.1115/IMECE1997-0386
DO - 10.1115/IMECE1997-0386
M3 - Conference contribution
AN - SCOPUS:85089445015
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
SP - 123
EP - 130
BT - Dynamic Systems and Control
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dynamic Systems and Control
Y2 - 16 November 1997 through 21 November 1997
ER -