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Utilization of motor current based torque feedback to improve the transparency of haptic interfaces
Date
2012-06-01
Author
Baser, Ozgur
Konukseven, Erhan İlhan
Metadata
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Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
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In this paper motor current based torque feedback compensator is utilized in actuator space together with a closed loop impedance control algorithm instead of model based compensator to improve the transparency performance of haptic interfaces; moreover, a novel transparency evaluation metric is developed to evaluate the transparency performance of these devices. The proposed control algorithm is experimentally tested on a 1 DOF haptic device by employing a low-cost current sensor. It is also tested on a MATLAB/Simmechanics (R) model of a 2 DOF serial planar elbow type haptic manipulator to show that it is applicable to multi-DOF haptic systems. Free-motion, virtual-load and virtual-wall performance tests are conducted to compare the performance of the proposed control algorithm with the alternative algorithms by means of apparent inertial effects. The results show that the proposed algorithm significantly improves the transparency of the haptic devices.
Subject Keywords
Haptic transparency
,
Haptic stability
,
Current feedback
,
Inertia/friction compensation
URI
https://hdl.handle.net/11511/49039
Journal
MECHANISM AND MACHINE THEORY
DOI
https://doi.org/10.1016/j.mechmachtheory.2012.01.012
Collections
Department of Mechanical Engineering, Article
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O. Baser and E. İ. Konukseven, “Utilization of motor current based torque feedback to improve the transparency of haptic interfaces,”
MECHANISM AND MACHINE THEORY
, pp. 78–93, 2012, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/49039.