Fine Force Reproduction of Environmental Haptic Sensations Based on Momentum Control

This paper focuses on the reproduction system for the environmental haptic sensations. The conventional reproduction system is based on force control. However, the resolution of the force command value is determined by the resolution of the encoder and the D/A board. The resolution of the force command value becomes insufficient in a high-stiffness environment. Because the displacement of the actuator is small, the position information becomes rough. Therefore, a large force vibration is caused by the differential of the momentum of viscosity in the conventional system. Thus, this paper proposes the reproduction system of haptic sensations based on momentum control. The proposed reproduction system indicates that the momentum control is able to change the force command resolution by varying the momentum control gain. Because the resolution of the force command value is changed by the momentum controller, a reproduction of the environmental haptic sensations that have a coarse force resolution is achieved. The effectiveness of the proposed method is confirmed by experiments and analysis.