Nonlinear disturbance compensation for haptic device

Toshiyuki Ohashi, Peter Szemes, P. Korondi, Hideki Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

Abstract

The Sensor Glove II (The SG II) is a glove type haptic device. The SG II supports 20 degrees of freedom which corresponds to the total D.O.F. of the human hand. It can measure the force and the angle of each joint and feedback the force from the manipulated environment in each joint. The motors move pulleys of the device through wires in tubes. The nonlinear friction causes disturbances and difficulties in the control. This paper proposes a control method with disturbance compensation based on a sliding mode observer for SGII. If the system is held on the sliding surface, the system is robust against certain parameter changes and certain nonlinearity. The sliding mode observer is an efficient scheme for compensating nonlinear disturbance. The results of the free motion experiment show good performances.

Original languageEnglish
Title of host publicationIEEE International Symposium on Industrial Electronics
PublisherIEEE
Pages304-309
Number of pages6
Volume1
Publication statusPublished - 1999
EventProceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99) - Bled, Slovenia
Duration: Jul 12 1999Jul 16 1999

Other

OtherProceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99)
CityBled, Slovenia
Period7/12/997/16/99

Fingerprint

Pulleys
Sensors
Wire
Friction
Feedback
Experiments
Compensation and Redress

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Ohashi, T., Szemes, P., Korondi, P., & Hashimoto, H. (1999). Nonlinear disturbance compensation for haptic device. In IEEE International Symposium on Industrial Electronics (Vol. 1, pp. 304-309). IEEE.

Nonlinear disturbance compensation for haptic device. / Ohashi, Toshiyuki; Szemes, Peter; Korondi, P.; Hashimoto, Hideki.

IEEE International Symposium on Industrial Electronics. Vol. 1 IEEE, 1999. p. 304-309.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ohashi, T, Szemes, P, Korondi, P & Hashimoto, H 1999, Nonlinear disturbance compensation for haptic device. in IEEE International Symposium on Industrial Electronics. vol. 1, IEEE, pp. 304-309, Proceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99), Bled, Slovenia, 7/12/99.
Ohashi T, Szemes P, Korondi P, Hashimoto H. Nonlinear disturbance compensation for haptic device. In IEEE International Symposium on Industrial Electronics. Vol. 1. IEEE. 1999. p. 304-309
Ohashi, Toshiyuki ; Szemes, Peter ; Korondi, P. ; Hashimoto, Hideki. / Nonlinear disturbance compensation for haptic device. IEEE International Symposium on Industrial Electronics. Vol. 1 IEEE, 1999. pp. 304-309
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