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Inertial Properties in Haptic Devices: Non-Linear Inertia Shaping vs. Force Feedforward

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.

[img] PDF - Only accessible within DLR
[img] PDF
[img] PDF - Only accessible within DLR

Official URL: https://www.sciencedirect.com/journal/ifac-papersonline/vol/51/issue/22


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/
Document Type:Conference or Workshop Item (Speech)
Title:Inertial Properties in Haptic Devices: Non-Linear Inertia Shaping vs. Force Feedforward
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Date:August 2018
Journal or Publication Title:IFAC Proceedings Volumes (IFAC-PapersOnline)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
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, Dr. Thomas
Deposited On:30 Nov 2018 15:07
Last Modified:20 Dec 2018 09:59

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