Transparency of a phantom premium haptic interface for active and passive human interaction

Proceedings of the American Control Conference

Volumn 5, Issue , 2005, Pages 3060-3065

  McJunkin, Samuel T ^a   O'Malley, Marcia K ^a   Speich, John E ^b  

^a RICE UNIVERSITY   (United States)

^b Virginia Commonwealth University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTIVE USER INDUCED (AUI); HUMAN OPERATORS; PHANTOM MANIPULATORS;

ACOUSTIC IMPEDANCE; BANDWIDTH; MANIPULATORS;

HAPTIC INTERFACES;

EID: 23944520591     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (18)

1. R.Stiles, Acceleration Time Series Resulting From Repetitive Extension-Flexion of Hand, J. Applied Physiology, 38(1): 101-107, 1975.
2. D.A. Lawrence, Stability and Transparency in Bilateral Teleoperation, IEEE Trans on Robotics and Automation, 9(5):624-637, 1993.
3. K.B. Fite, J.E. Speich, and M. Goldfarb, Transparency and Stability Robustness in Two-Channel Bilateral Teleoperation, Journal of Dyn Systems, Measurement, and Control, 123: 400-407, Sept 2001.
4. H. Lee and M. Chung, Adaptive Controller of a Master-Slave System for Transparent Teleoperation, J.Robotic Sys, 15(8):465-475, 1998.
5. K. Hashtrudi-Zaad and S.E. Salcudean, Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators, The International Journal of Robotic Research, 20(6):419-445, 2001.
6. J.E. Colgate, Robust Impedance Shaping Telemanipulation, IEEE Transactions on Robotics and Automation, 9(4):374-384, Aug, 1993.
7. T. Sirithanapipat, Haptic Interface Control Design for Performance and Stability Robustness, PhD Thesis, Vanderbilt Univ, May, 2002.
8. R.Adams and B.Hannaford, Control Law Design for Haptic Interfaces to Virtual Reality, IEEE Trans Cont Sys Tech 10(1):3-13, 2002.
9. K.S. Eom, I.H. Suh, and B.J. Yi, A Design Method of Haptic Interface Controller Considering Transparency and Robust Stability, Proc IEEE/RSJ Intl Conf Intelligent Robots and Systems, 961-966, 2000.
10. J.E. Speich and M. Goldfarb, Implementation of Loop-Shaping Compensation for Multi-Degree of Freedom Macro-Micro Scaled Teleoperation, IEEE Trans on Control Sys Tech, In Press, 2004.
11. J.J. Graig, Introduction to Robotics: Mechanics and Control, 2nd Edition, Addison-Wesley Publishing Company Inc., 382, 1989.
12. M.C. Cavusoglu, D. Feygin, and F. Tendick, A Critical Study of the Mechanical and Electrical Properties of the PHANToM Haptic Interface and Improvements for High-Performance Control, Presence, 11 (6): 555-568, December, 2002.
13. J.E. Speich, L. Shao, and M. Goldfarb, An Experimental Hand/Arm Model for Human Interaction with a Telemanipulation System, Proc of ASME Intl Mech Eng Congress and Exposition, 2001.
14. N. Hogan, Impedance Control: An Approach to Manipulation: Part 1 - Theory, Journal of Dyn Sys Meas and Control, 107:1-7, 1985.
15. D.J. Schneck, Mechanics of Muscle, 2nd Ed, NY Univ Press, 4,1992.
16. J.Hwang, M.Williams, and G.Neimeyer, Toward Event-Based Haptics: Rendering Contact Using Open-Loop Force Pulses, 12th Intl Symp on Haptic Interfaces for Virtual Env and Teleop Sys, 2004.
17. J.L. Patton and F.A. Mussa-Ivaldi, Linear Combinations of Nonlinear Models for Predicting Human-Machine Interface Forces, Biological Cybernetics, 86:73-87, 2002.
18. K.J. Kuchenbecker, J.G. Park, and G. Niemeyer, Characterizing the Human Wrist for Improved Haptic Interaction, Proc IMECE Intl Mech Eng Congress and Exposition, Nov 2003.