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 publication2006 IEEE International Conference on Industrial Technology, ICIT
Pages824-829
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 2006 Dec 152006 Dec 17

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

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

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

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