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Fahmi, Ahmed Mohamed Shamel and Hulin, Thomas (2018) Inertial Properties in Haptic Devices: Non-Linear Inertia Shaping vs. Force Feedforward. In: IFAC Proceedings Volumes (IFAC-PapersOnline). SYROCO 2018, Budapest, Hungary. doi: 10.1016/j.ifacol.2018.11.521.
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Official URL: https://www.sciencedirect.com/journal/ifac-papersonline/vol/51/issue/22
Abstract
The inertia of haptic devices limits the user's manipulation and dynamically couples the Cartesian motion, which influences the transparency and fidelity in haptic feedback. By employing force-torque sensing, we investigate two approaches to reduce the apparent inertial effect of haptic devices and to overcome dynamic coupling. First, in order to shape the apparent inertia felt by the user, non-linear inertia shaping (NIS) is presented and introduced to the field of haptics. NIS is based on non-linear dynamic decoupling (NLD). Second, as a standard approach, force feedforward control (FF) is presented that uniformly scales down the apparent inertia. We demonstrate that FF is a special case of NIS, under the assumption that gravitational, centripetal and Coriolis terms are neglected. Simulations and experiments were conducted on DLR's bi-manual haptic device HUG. It is shown that NIS is suited to compensate for the coupling effects, while FF can reduce the apparent inertia more effectively.
| Item URL in elib: | https://elib.dlr.de/123988/ | |||||||||
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| Document Type: | Conference or Workshop Item (Speech) | |||||||||
| Title: | Inertial Properties in Haptic Devices: Non-Linear Inertia Shaping vs. Force Feedforward | |||||||||
| Authors: |
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| Date: | August 2018 | |||||||||
| Journal or Publication Title: | IFAC Proceedings Volumes (IFAC-PapersOnline) | |||||||||
| Refereed publication: | Yes | |||||||||
| Open Access: | No | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | Yes | |||||||||
| In ISI Web of Science: | No | |||||||||
| DOI: | 10.1016/j.ifacol.2018.11.521 | |||||||||
| Status: | Published | |||||||||
| Keywords: | Feedback Linearization, Haptics and Haptic Interfaces, Force Control, Physical Human-Robot Interaction | |||||||||
| Event Title: | SYROCO 2018 | |||||||||
| Event Location: | Budapest, Hungary | |||||||||
| Event Type: | international Conference | |||||||||
| HGF - Research field: | Aeronautics, Space and Transport | |||||||||
| HGF - Program: | Space | |||||||||
| HGF - Program Themes: | Space System Technology | |||||||||
| DLR - Research area: | Raumfahrt | |||||||||
| DLR - Program: | R SY - Space System Technology | |||||||||
| DLR - Research theme (Project): | R - OOS: Virtual Reality [SY] | |||||||||
| Location: | Oberpfaffenhofen | |||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | |||||||||
| Deposited By: | Hulin, Thomas | |||||||||
| Deposited On: | 30 Nov 2018 15:07 | |||||||||
| Last Modified: | 20 Dec 2018 09:59 |
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