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Energy-Based Control of a Haptic Device Using Brakes

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3 Author(s)
Changhyun Cho ; Center for Intelligent Robotics, Korea Inst. of Sci. & Technol., Seoul ; Jae-Bok Song ; Munsang Kim

This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the system in the specific direction. A force control scheme is proposed that computes the gain for smooth motion by considering the energy behavior of a system. Experiments show that smooth wall following is possible with a proposed force control scheme

Published in:

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:37 ,  Issue: 2 )