Energy-based control of a haptic device using brakes

Changhyun Cho, Jae-Bok Song, Munsang Kim

Research output: Contribution to journalArticle

11 Citations (Scopus)

Abstract

This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the system in the specific direction. A force control scheme is proposed that computes the gain for smooth motion by considering the energy behavior of a system. Experiments show that smooth wall following is possible with a proposed force control scheme.

Original languageEnglish
Pages (from-to)341-349
Number of pages9
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume37
Issue number2
DOIs
Publication statusPublished - 2007 Apr 1
Externally publishedYes

Fingerprint

Brakes
Equipment and Supplies
Force control
Electric brakes
End effectors
Experiments

Keywords

  • Brake
  • Force approximation
  • Indirect force control
  • Passive force manipulability ellipsoid (FME)
  • Passivity

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Energy-based control of a haptic device using brakes. / Cho, Changhyun; Song, Jae-Bok; Kim, Munsang.

In: IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, Vol. 37, No. 2, 01.04.2007, p. 341-349.

Research output: Contribution to journalArticle

@article{2e543a35550f46db90cd7fbc3701853d,
title = "Energy-based control of a haptic device using brakes",
abstract = "This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the system in the specific direction. A force control scheme is proposed that computes the gain for smooth motion by considering the energy behavior of a system. Experiments show that smooth wall following is possible with a proposed force control scheme.",
keywords = "Brake, Force approximation, Indirect force control, Passive force manipulability ellipsoid (FME), Passivity",
author = "Changhyun Cho and Jae-Bok Song and Munsang Kim",
year = "2007",
month = "4",
day = "1",
doi = "10.1109/TSMCB.2006.883431",
language = "English",
volume = "37",
pages = "341--349",
journal = "IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics",
issn = "1083-4419",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "2",

}

TY - JOUR

T1 - Energy-based control of a haptic device using brakes

AU - Cho, Changhyun

AU - Song, Jae-Bok

AU - Kim, Munsang

PY - 2007/4/1

Y1 - 2007/4/1

N2 - This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the system in the specific direction. A force control scheme is proposed that computes the gain for smooth motion by considering the energy behavior of a system. Experiments show that smooth wall following is possible with a proposed force control scheme.

AB - This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the system in the specific direction. A force control scheme is proposed that computes the gain for smooth motion by considering the energy behavior of a system. Experiments show that smooth wall following is possible with a proposed force control scheme.

KW - Brake

KW - Force approximation

KW - Indirect force control

KW - Passive force manipulability ellipsoid (FME)

KW - Passivity

UR - http://www.scopus.com/inward/record.url?scp=34047185793&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34047185793&partnerID=8YFLogxK

U2 - 10.1109/TSMCB.2006.883431

DO - 10.1109/TSMCB.2006.883431

M3 - Article

VL - 37

SP - 341

EP - 349

JO - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

JF - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

SN - 1083-4419

IS - 2

ER -