The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Toward Transparent Virtual Coupling for Haptic Interaction during Contact Tasks

컨택트 작업 시 햅틱 인터렉션의 투명성 향상을 위한 Virtual Coupling 기법의 설계

  • Kim, Myungsin (Mechanical and Aerospace Engineering, Seoul National University) ;
  • Lee, Dongjun (Mechanical and Aerospace Engineering, Seoul National University)
  • Received : 2013.05.30
  • Accepted : 2013.07.25
  • Published : 2013.08.31
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Abstract

Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of [3] is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.

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References

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