Improvement of response isotropy of haptic interface for tele-micromanipulation systems

Noriaki Ando, Peter T. Szemes, Peter Korondi, Hideki Hashimoto

Research output: Contribution to journalConference article

1 Citation (Scopus)

Abstract

In this paper, control schemes for master haptic interface is mainly discussed. We have been proposed the tele-micromanipulation systems, which enables human operators to operate micro tasks, such as assembly or manufacturing, without feeling stress. The paper focuses on the haptic interface, which gives the operators the feeling of presence. The mechanism applied in the human interface device has a reasonable immanent friction usually. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a direct model based chattering free sliding mode friction estimator and compensator for a human interface device. Experimental results are presented.

Original languageEnglish
Pages (from-to)1925-1930
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - Jan 1 2002
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: May 11 2002May 15 2002

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Improvement of response isotropy of haptic interface for tele-micromanipulation systems'. Together they form a unique fingerprint.

  • Cite this