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

Yujiro Soeda, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2006 IEEE International Conference on Industrial Technology, ICIT
ページ824-829
ページ数6
DOI
出版ステータスPublished - 2006 12 1
イベント2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
継続期間: 2006 12 152006 12 17

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
国/地域India
CityMumbai
Period06/12/1506/12/17

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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