A compliance control based on force control system for a haptic display

Yujiro Soeda, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In virtual reality, operators need force sensation as well as audio and video. Haptic devices provide them with the force sensation for a virtual object. In this paper, the hardness or softness of the virtual object is realized by compliance control based on force control system. When they contact the surface of an object operators feel the mechanical impedance of the object from "contact point". Moreover, they feel the mechanical impedance from some points next to "contact point". We call the former impedance "self-impedance" and the latter impedance "mutual- impedance". This paper proposes the method which realizes the two kinds of impedance by the compliance control. We consider that the two kinds of impedance provide force sensation of the virtual object near to a real object. First, in this paper the control method is stated. Then, computer simulations are performed to confirm the validity of the proposed method. Finally, experiments are performed using actuators of a haptic display.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
Pages824-829
Number of pages6
DOIs
Publication statusPublished - 2006
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 2006 Dec 152006 Dec 17

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period06/12/1506/12/17

Fingerprint

Compliance control
Force control
Point contacts
Display devices
Control systems
Virtual reality
Actuators
Hardness
Computer simulation
Experiments

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Software
  • Industrial and Manufacturing Engineering

Cite this

Soeda, Y., & Ohnishi, K. (2006). A compliance control based on force control system for a haptic display. In Proceedings of the IEEE International Conference on Industrial Technology (pp. 824-829). [4237657] https://doi.org/10.1109/ICIT.2006.372335

A compliance control based on force control system for a haptic display. / Soeda, Yujiro; Ohnishi, Kouhei.

Proceedings of the IEEE International Conference on Industrial Technology. 2006. p. 824-829 4237657.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Soeda, Y & Ohnishi, K 2006, A compliance control based on force control system for a haptic display. in Proceedings of the IEEE International Conference on Industrial Technology., 4237657, pp. 824-829, 2006 IEEE International Conference on Industrial Technology, ICIT, Mumbai, India, 06/12/15. https://doi.org/10.1109/ICIT.2006.372335
Soeda Y, Ohnishi K. A compliance control based on force control system for a haptic display. In Proceedings of the IEEE International Conference on Industrial Technology. 2006. p. 824-829. 4237657 https://doi.org/10.1109/ICIT.2006.372335
Soeda, Yujiro ; Ohnishi, Kouhei. / A compliance control based on force control system for a haptic display. Proceedings of the IEEE International Conference on Industrial Technology. 2006. pp. 824-829
@inproceedings{470d8d35f7ff484ebd541e3c95066c29,
title = "A compliance control based on force control system for a haptic display",
abstract = "In virtual reality, operators need force sensation as well as audio and video. Haptic devices provide them with the force sensation for a virtual object. In this paper, the hardness or softness of the virtual object is realized by compliance control based on force control system. When they contact the surface of an object operators feel the mechanical impedance of the object from {"}contact point{"}. Moreover, they feel the mechanical impedance from some points next to {"}contact point{"}. We call the former impedance {"}self-impedance{"} and the latter impedance {"}mutual- impedance{"}. This paper proposes the method which realizes the two kinds of impedance by the compliance control. We consider that the two kinds of impedance provide force sensation of the virtual object near to a real object. First, in this paper the control method is stated. Then, computer simulations are performed to confirm the validity of the proposed method. Finally, experiments are performed using actuators of a haptic display.",
author = "Yujiro Soeda and Kouhei Ohnishi",
year = "2006",
doi = "10.1109/ICIT.2006.372335",
language = "English",
isbn = "1424407265",
pages = "824--829",
booktitle = "Proceedings of the IEEE International Conference on Industrial Technology",

}

TY - GEN

T1 - A compliance control based on force control system for a haptic display

AU - Soeda, Yujiro

AU - Ohnishi, Kouhei

PY - 2006

Y1 - 2006

N2 - In virtual reality, operators need force sensation as well as audio and video. Haptic devices provide them with the force sensation for a virtual object. In this paper, the hardness or softness of the virtual object is realized by compliance control based on force control system. When they contact the surface of an object operators feel the mechanical impedance of the object from "contact point". Moreover, they feel the mechanical impedance from some points next to "contact point". We call the former impedance "self-impedance" and the latter impedance "mutual- impedance". This paper proposes the method which realizes the two kinds of impedance by the compliance control. We consider that the two kinds of impedance provide force sensation of the virtual object near to a real object. First, in this paper the control method is stated. Then, computer simulations are performed to confirm the validity of the proposed method. Finally, experiments are performed using actuators of a haptic display.

AB - In virtual reality, operators need force sensation as well as audio and video. Haptic devices provide them with the force sensation for a virtual object. In this paper, the hardness or softness of the virtual object is realized by compliance control based on force control system. When they contact the surface of an object operators feel the mechanical impedance of the object from "contact point". Moreover, they feel the mechanical impedance from some points next to "contact point". We call the former impedance "self-impedance" and the latter impedance "mutual- impedance". This paper proposes the method which realizes the two kinds of impedance by the compliance control. We consider that the two kinds of impedance provide force sensation of the virtual object near to a real object. First, in this paper the control method is stated. Then, computer simulations are performed to confirm the validity of the proposed method. Finally, experiments are performed using actuators of a haptic display.

UR - http://www.scopus.com/inward/record.url?scp=51349151282&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=51349151282&partnerID=8YFLogxK

U2 - 10.1109/ICIT.2006.372335

DO - 10.1109/ICIT.2006.372335

M3 - Conference contribution

AN - SCOPUS:51349151282

SN - 1424407265

SN - 9781424407262

SP - 824

EP - 829

BT - Proceedings of the IEEE International Conference on Industrial Technology

ER -