1999
DOI: 10.1109/5326.798763
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A control-system architecture for robots used to simulate dynamic force and moment interaction between humans and virtual objects

Abstract: Haptic or kinesthetic feedback is essential in many important virtual reality and telepresence applications. Previous research focuses on simulating static forces such as those encountered when interacting with a stiff object such as a wall. Past studies usually employ custom-made devices that are not readily available to other researchers. Consequently, many of the results found in the haptic feedback literature cannot be replicated independently.With experimental results, this paper demonstrates that "off th… Show more

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Cited by 22 publications
(8 citation statements)
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“…The number of virtual hand/object contact points varied from (simple precision grip with three fingers) up to (spherical power grasp). Table II presents some results demonstrating the performance of the method described by equations (13) and (15) (minimization of ) which uses a weighted pseudo-inverse of the grasp matrix . Computing the pseudo-inverse of needs the inversion of a 6 6 matrix, which is performed using an algorithm based on the Gaussian elimination procedure.…”
Section: G Implementation and Numerical Resultsmentioning
confidence: 99%
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“…The number of virtual hand/object contact points varied from (simple precision grip with three fingers) up to (spherical power grasp). Table II presents some results demonstrating the performance of the method described by equations (13) and (15) (minimization of ) which uses a weighted pseudo-inverse of the grasp matrix . Computing the pseudo-inverse of needs the inversion of a 6 6 matrix, which is performed using an algorithm based on the Gaussian elimination procedure.…”
Section: G Implementation and Numerical Resultsmentioning
confidence: 99%
“…These systems are more often used in the context of bilateral master-slave teleoperation applications [51]. However, it is stated that such robot manipulator arms can also be employed as generalized force-feedback devices to simulate dynamic force and moment interaction between humans and virtual objects [13].…”
Section: A Force Display Devices: Brief Literature Surveymentioning
confidence: 99%
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“…Impedance control was extensively analyzed in (Clover 1997, 1999, Carignan, 2000, 2003, 1989, and Kazerooni, 1986, 1994. Two basic forms of impedances were pointed out.…”
Section: Impediance and Admittance Force Controlmentioning
confidence: 99%
“…1) is not back-driveable and its inertia is not isotropic. Thus, it becomes possible to use an active force feedback to vary the apparent inertia (Clover, 1999;Van der Linde, et al, 2003).…”
Section: Introductionmentioning
confidence: 99%