| Title: |
Force-based impedance control of a haptic master system for teleoperation. |
| Authors: |
A Frisoli; E Sotgiu; C.A. Avizzano; D Checcacci; M Bergamasco |
| Source: |
Sensor Review; 2004, Vol. 24 Issue 1, p42-50, 9p |
| Subject Terms: |
USER interfaces; HUMAN-computer interaction; HUMAN-machine systems; SYSTEMS design; IMPEDANCE spectroscopy |
| Abstract: |
This paper analyzes the design of a force-based impedance control for a haptic interface system characterized by a parallel kinematics. By exploiting the features of parallel mechanisms, which perform better than the serial ones in terms of dynamic performance, stiffness and position accuracy, and by implementing a closed-loop force control, the transparency of a haptic master system and the fidelity of resultant force feedback can be consistently improved. Issues for design and control as well as aspects of performance evaluation of haptic interfaces are treated within the paper and some results of the experimental characterization of a haptic interface are presented. [ABSTRACT FROM AUTHOR] |
| : |
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| Database: |
Complementary Index |