Motion control of passive haptic device using wires with servo brakes
Motion control of passive haptic device using wires with servo brakes
复制标题
使用带伺服制动器的电线进行被动触觉设备的运动控制
DOI：
10.1109/iros.2010.5649497
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
K. Kosuge
中科院分区：
文献类型：
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作者：
Y. Hirata;Koki Suzuki;K. Kosuge
本文介绍了一种由导线和伺服制动器组成的被动触觉装置及其控制方法，用于人体的物理支撑。由于伺服制动器控制的是一个受导线约束的点，因此该被动系统本质上是安全的，并且具有广泛的工作范围。我们特别开发了一个平面控制的运动支持系统，并进行了路径跟踪实验，以说明带线的被动触觉装置的可能性。通过计算可行制动力，分析了系统的特性，并在此基础上改进了系统的工作范围。路径跟踪功能的实验结果验证了系统及其控制方法的有效性。
In this paper, we introduce a passive haptic device which consists of wires with servo brakes and its control method for physical support of human being. Since servo brakes control a point constrained by wires, this passive system is intrinsically safe and has a wide operating range. We especially develop a motion support system controlled on plane and conduct a path following experiment for illustrating a possibility of the passive haptic device with wires. We also analyze the system's characteristics by calculating the feasible braking force, and then improve the operating range of the system based on the analysis. Experimental results on path following function illustrate the validity of the system and its control method.
DOI：
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发表时间：
2004
期刊：
Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
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作者：
K.Koyanagi;J.Furusho;L.C.Dong
通讯作者：
L.C.Dong