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• W1963485379 abstract "This paper proposes a novel technique for predicting a repulsive force in a haptic interface. The goal of many haptic systems is to reflect a desired repulsive force to an operator. However, there is no way of describing a repulsive force mathematically. This means that the force-reflection performance of haptic systems cannot be simulated at the design process. Even though reflecting a repulsive force to an operator is the purpose of the systems, many haptic systems have been designed without knowing how an operator perceives a repulsive force during manipulation. Such design process unavoidably entails a lot of trials and errors and increases development time and costs. Here we show that the repulsive force can be predicted by establishing an optimal controller. 1-Degree of freedom lever system is designed with light and heavy inertia in order to reflect inertial variation. The dynamics of the system is derived and an optimal controller is established based on the system dynamics. The optimal controller predicts the repulsive forces under three different position trajectories. After manufacturing the lever system, actual repulsive force data is collected under the same position trajectories. The predicted repulsive forces are then compared with the actual repulsive forces. To demonstrate the effectiveness of the proposed method, a correlation coefficient between the predicted repulsive force and the actual one is presented. In addition, the mean value and standard deviation of the force error are provided. After showing that a repulsive force can be predicted by an optimal controller, a steering-wheel simulator is designed and manufactured to show that the proposed method is applicable to a haptic system’s design as well." @default.
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• W1963485379 date "2014-12-18" @default.
• W1963485379 modified "2023-09-24" @default.
• W1963485379 title "A novel approach for prediction of a repulsive force in a haptic manipulator: experimental verification with different trajectories" @default.
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• W1963485379 doi "https://doi.org/10.1088/0964-1726/24/2/025017" @default.
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