A new admittance-type haptic interface for bimanual manipulations
A new admittance-type haptic interface for bimanual manipulations
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DOI：
10.1109/tmech.2008.2001690
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发表时间：
2008-08-01
影响因子：
6.4
通讯作者：
Buss, Martin
中科院分区：
文献类型：
--
作者：
Peer, Angelika;Buss, Martin
提出了一种新的移动触觉界面的概念，用于6自由度的手动操作。该移动触觉界面的设计基于模块化系统，该系统由两个导纳式触觉界面和一个移动平台组成。虽然触觉界面只覆盖了人类手臂工作空间的一部分，但移动平台将其扩展到任意宽的远程环境。本文主要讨论了拟安装在移动平台上的触觉接口的设计和控制概念。接口处理一个大的工作空间和高的力/扭矩能力。一个特殊的设计和控制概念的触觉界面，使它能够解耦平移从旋转运动。这种解耦有助于显著简化处理单个组件之间交互的控制算法。给出了系统的笛卡尔位置跟踪性能和阻抗显示保真度的评价结果。此外，还分析了以下性能指标：灵活的工作空间、输出能力和反向可驾驶性。为了减少度量工作，其中一些度量是基于模型的，其他的是基于度量的性能评估。
The concept of a new mobile haptic interface for bimanual manipulations in 6 DOFs is presented. The design of this mobile haptic interface is based on a modular system consisting of two components: two admittance-type haptic interfaces and a mobile platform. While the haptic interfaces cover only parts of the human arm workspace, the mobile platform extends these to arbitrarily wide remote environments. This paper mainly addresses the design and control concepts of the haptic interfaces, which are planned to be mounted on the mobile platform. The interfaces dispose of a large workspace and a high force/torque capability. A special design and control concept of the haptic interfaces makes it possible to decouple translational from rotational movements. This decoupling helps to significantly simplify the control algorithms that handle the interaction between the single components. Evaluation results concerning the Cartesian position tracking performance and the impedance display fidelity are provided. In addition, the following performance measures are analyzed: dextrous workspace, output capability, and backdrivability. In order to reduce the measurement effort, some of these measures are determined by model-based, others by measurement-based performance evaluation.