인문학
사회과학
자연과학
공학
의약학
농수해양학
예술체육학
복합학
DBpia AI
AI 에이전트
AI 아이디어
AI 리더
AI 뷰어
Citeasy
크롬 서지관리 다운로드
지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2016.10
- 수록면
- 1,292 - 1,297 (6page)
이용수
초록· 키워드
This paper proposes a new approach to further enlarge the achievable displayed stiffness range of impedancetype haptic interfaces. Most of the stability guaranteed haptic interaction methods result having much lower achieved stiffness than the original desired stiffness at the cost of stability. This paper introduces a new rendering approach, which can display close to the originally intended high stiffness by only using low value of stiffness in the rendering of the state dependent linear force feedback force together with the state independent feedforward force offset. The biggest advantage of using low stiffness for the rendering of the feedback force rendering is that the interaction remains stable because the produced energy during the interaction can be fully dissipated by the intrinsic damping of the device. In order to achieve the desired stiffness meanwhile using only low stiffness in the rendering of the feedback force rendering, a small feedforward force offset is augmented in the following interaction cycles. The small force offset value is added or subtracted from the low stiffness linear force relation depending on the value of the displayed stiffness. If the displayed stiffness is lower than the desired stiffness after finishing each interaction loop, small force offset is accumulated in the next pressing cycle until the displayed stiffness becomes closer to the desired stiffness. Experimental evaluation has been conducted with PHANToM Premium 1.5, and has achieved much higher transparency than other conventional approaches though displaying close to desired stiffness while minimizing the penetration depth.
상세정보 수정요청해당 페이지 내 제목·저자·목차·페이지정보가 잘못된 경우 알려주세요!
목차
- Abstract
- 1. INTRODUCTION
- 2. HAPTIC INTERACTION WITH LOW AND HIGH STIFFNESS VIRTUAL ENVIRONMENT
- 3. SUCCESSIVE FORCE AUGMENT APPROACH
- 4. EXPERIMENTS
- 5. CONCLUSIONS AND FUTURE WORKS
- REFERENCES
참고문헌
참고문헌 신청최근 본 자료
UCI(KEPA) : I410-ECN-0101-2017-003-001867452
