Friction modeling and compensation for haptic display based on support vector machine

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)491-500
Journal / PublicationIEEE Transactions on Industrial Electronics
Issue number2
Publication statusPublished - Apr 2004


As the presence of friction in a haptic display device seriously affects its performance, proper compensation of the frictional effects in such a device is of practical importance for advanced virtual reality applications where baptic display plays a critical role. This paper addresses the issue of friction modeling and compensation for haptic control system designs. A new method based on the Support Vector Machine (SVM) is developed in a controller design based on a two-port network to achieve accurate haptic display. The approximation model of friction is established offline through SVM learning and is used for online feed forward friction compensation. The advantages of this novel method are demonstrated through the experiments performed.

Research Area(s)

  • Friction modeling and compensation, Haptic display, Support vector machine (SVM), Two-port-network-based controller