Passive force display using ER brakes and its control experiments

Sakaguchi, Masamichi; Furusho, Junji; Takesue, Naoyuki

doi:10.1109/vr.2001.913764

Cited by 38 publications

(20 citation statements)

References 5 publications

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“…In [23] electrorheological (ER) fluid with viscosity controllable by electric field is used to produce a passive force display system -the ER constricting movements simulates contact with virtual walls. Our interface is also able to generate reaction forces, however, it is done by changing the stiffness of the granular material or paper layers enclosed inside a rubber shell.…”

Section: Related Workmentioning

confidence: 99%

Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

Zubrycki

Granosik

2016

J Intell Robot Syst

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This paper presents a new type of wearable haptic device which can augment a sensor glove in various tasks of telemanipulation. We present the details of its two alternative designs jamming tubes or jamming pads, and their control system. These devices use the jamming phenomena to change the stiffness of their elements and block the hand movement when a vacuum is applied. We present results of our experiments to measure static and dynamic changes in stiffness, which can be used to change the perception of grabbing hard or soft objects. The device, at its current state is capable of resisting forces of up to 7 N with 5 mm displacement and can simulate hardness up to the hardness of a rubber. However, time necessary for a complete change of stiffness is high (time constant 0.5 s); therefore, additional cutaneous interface was added in a form of small vibration motors. Finally, we show an application of the haptic interface in our teleoperation system to provide the

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Section: Related Workmentioning

confidence: 99%

Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

Zubrycki

Granosik

2016

J Intell Robot Syst

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“…A virtual wall was set to 90 [deg] simulating that the operator cannot push any-more forward, and can leave freely backward. However, the ER clutch provides resistance force equally to the detaching movement of the end effector, representing sticky wall [12]. To prevent this phenomenon, we used a case analysis whether the operator is touching or de-touching with the wall.…”

Section: Virtual Wallmentioning

confidence: 99%

Development of Semi-Active-Type Haptic Device Using Variable Viscoelastic Elements

Egawa

Watanabe

Nakamura

2015

Intelligent Robotics and Applications

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Abstract. Recently, the use of haptic technology has been expected in various fields, such as medicine and entertainment. In general, haptic devices are actuated by DC motors. However, DC motors have active rendering and can cause serious accidents when the system runs out of control. On the other hand, systems that employ a brake are stable and intrinsically safe. However, such systems have several haptic rendering limitations. Therefore, we have developed a semi-active-type haptic device using variable viscoelastic elements: an electrorheological (ER) devices and pneumatic artificial muscles. In this paper, we proposed control modes according to the haptic application, and we demonstrate several haptic experiments. Finally, we confirm that the novel semi-active system achieves haptic rendering of friction, viscous friction, virtual wall, and stiffness.

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“…Few studies have concentrated on the control side of brake actuated manipulators. Several control algorithms were suggested to overcome the unsmooth motion: SDOF controller [9], velocity ratio controller [17], a small band applied near the wall with brakes actuated only in that area [18], direct control based on FME [19] and indirect energy based control based on FME [20]. However, the use of force sensor and the observed "sticky feel" was not eliminated.…”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of a 2DOF haptic device with four-state rotary programmable brakes

Manoharan

Tenzer

Baena

2011

2011 IEEE World Haptics Conference

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Safety is an important factor for human-machine interface devices. Brake actuated devices are potentially safer than those that rely on motors for force-feedback generation. However, manipulators using conventional frictional brakes do have limitations. This paper presents the experimental evaluation of a newly developed four-state rotary programmable brake in a 2DOF manipulator. The experimental results show improved performance compared to the results obtained when manipulators with conventional frictional brakes are used.

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Passive force display using ER brakes and its control experiments

Cited by 38 publications

References 5 publications

Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

Development of Semi-Active-Type Haptic Device Using Variable Viscoelastic Elements

Experimental evaluation of a 2DOF haptic device with four-state rotary programmable brakes

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