Sliding mode friction compensation for a 20 DOF sensor glove

P. Korondi, Péter T. Szemes, Hideki Hasimoto

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. 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 practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom.

Original languageEnglish
Pages (from-to)611-615
Number of pages5
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume122
Issue number4
Publication statusPublished - Dec 2000

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gloves
sliding
friction
Friction
sensors
Sensors
human performance
operators
compensators
estimators
degrees of freedom
Feedback
Compensation and Redress

Keywords

  • Disturbance Observers and Sliding Mode Observer
  • Friction Compensation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Instrumentation

Cite this

Sliding mode friction compensation for a 20 DOF sensor glove. / Korondi, P.; Szemes, Péter T.; Hasimoto, Hideki.

In: Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, Vol. 122, No. 4, 12.2000, p. 611-615.

Research output: Contribution to journalArticle

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