TY - GEN
T1 - Motion control of passive haptic device using wires with servo brakes
AU - Hirata, Yasuhisa
AU - Suzuki, Keitaro
AU - Kosuge, Kazuhiro
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 2010
Y1 - 2010
N2 - In this paper, we introduce a passive haptic device which consists of wires with servo brakes and its control method for physical support of human being. Since servo brakes control a point constrained by wires, this passive system is intrinsically safe and has a wide operating range. We especially develop a motion support system controlled on plane and conduct a path following experiment for illustrating a possibility of the passive haptic device with wires. We also analyze the system's characteristics by calculating the feasible braking force, and then improve the operating range of the system based on the analysis. Experimental results on path following function illustrate the validity of the system and its control method. ©2010 IEEE.
AB - In this paper, we introduce a passive haptic device which consists of wires with servo brakes and its control method for physical support of human being. Since servo brakes control a point constrained by wires, this passive system is intrinsically safe and has a wide operating range. We especially develop a motion support system controlled on plane and conduct a path following experiment for illustrating a possibility of the passive haptic device with wires. We also analyze the system's characteristics by calculating the feasible braking force, and then improve the operating range of the system based on the analysis. Experimental results on path following function illustrate the validity of the system and its control method. ©2010 IEEE.
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U2 - 10.1109/IROS.2010.5649497
DO - 10.1109/IROS.2010.5649497
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 3123
EP - 3129
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -