Hybrid control with multi-contact interactions for 6DOF haptic foot platform on a cable-driven locomotion interface

Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics

Volumn , Issue , 2008, Pages 161-168

  Otis, Martin J D ^a   Mokhtari, Marielle ^b   Du Tremblay, Charles ^b   Laurendeau, Denis ^a   De Rainville, Francois Michel ^b   Gosselin, Clément M ^a  

^a UNIVERSITÉ LAVAL   (Canada)

^b DEFENCE RESEARCH AND DEVELOPMENT CANADA   (Canada)

Author keywords

Cable; CDLI; Environment; Haptic; Interface; Locomotion; Parallel; Robot; Virtual; Wire

Indexed keywords

CABLE; CDLI; CHALLENGING TASK; COMMUNICATION INTERFACES; CONTACT INTERACTIONS; ENVIRONMENT; GRAPHIC RENDERING; HAPTIC; HAPTIC DEVICES; HAPTIC SIMULATIONS; HAPTICS; HIGH ACCELERATION; HIGH SPEEDS; HYBRID CONTROL; INHERENT LIMITATIONS; INTERFACE; LOCOMOTION; LOCOMOTION INTERFACES; MECHANICAL TRANSMISSIONS; PARALLEL; PARALLEL ROBOTS; PHYSICAL MODELLING; ROBOT; SIX DEGREES OF FREEDOM; TACTILE SENSATIONS; VIRTUAL; VIRTUAL ENVIRONMENT; VIRTUAL ENVIRONMENT MANAGER; VIRTUAL OBJECTS; WIRE;

BIOMECHANICS; BIPED LOCOMOTION; CABLES; FLOW INTERACTIONS; HAPTIC INTERFACES; INTERFACES (COMPUTER); MANAGERS; MODELS; REMOTE CONTROL; TOOLS;

VIRTUAL REALITY;

EID: 49749101254     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/HAPTICS.2008.4479937     Document Type: Conference Paper

References (24)

1. D. Baraff. Fast contact force computation for nonpenetrating rigid bodies. In Proceedings of the 21th annual conference on Computer graphics and interactive techniques (SIGGRAPH'94), pages 23-34, New York, NY, USA, 1994. ACM Press.
2. M. Bernhardt, M. Frey, G. Colombo, and R. Riener. Hybrid force-position control yields cooperative behaviour of the rehabilitation robot lokomat. In Proceedings of the 9th IEEE International Conference on Rehabilitation Robotics, pages 536 - 9, Chicago, IL, USA, 2005.
3. S. Boyd and B. Wegbreit. Fast computation of optimal contact forces. IEEE Trans. Robotics, submitted, 2007.
4. C. Carignan and K. Cleary. Closed-loop force control, for haptic simulation of virtual environments. Haptics-e, 1(2):1 - 14, 2000.
5. F.-T. Cheng and D. E. Orin. Efficient algorithm for optimal force distribution - the compact-dual 1p method. IEEE Transactions on Robotics and Automation, 6(2):178 -187, 1990.
6. V. Duchaine and C. M. Gosselin. General model of human-robot cooperation using a novel velocity based variable impedance control. In EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 446-451, 3 2007.
7. C. Duriez, F. Dubois, A. Kheddar, and C. Andriot Realistic haptic rendering of interacting deformable objects in virtual environments. IEEE Transactions on Visualization and Computer Graphics, 12(1):36-47, 2006.
8. S. Fang, D. Franitza, M. Torio, F. Bekes, and M. Hiller. Motion control of a tendon-based parallel manipulator using optimal tension distribution. IEEE/ASME Transactions on Mechatronics, 9(3):561 - 8, 9 2004.
9. H. Iwata, H. Yano, and F. Nakaizumi. Gait, master; a versatile, locomotion, interface, for uneven virtual terrain. In Proceedings of the IEEE Virtual Reality, pages 131 - 7, Yokohama, Japan, 2001.
10. L. Joly and A. Micaelli. Hybrid position/force control, velocity projection, and passivity. In Robot Control 1997 (SYROCO'97), volume 1, pages 325 - 31, Nantes, France, 1998.
11. S. Kawamura, M. Ida, T. Wada, and J.-L. Wu. Development of a virtual sports machine using a wire drive system-a trial of virtual tennis. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots, volume 1, pages 111 - 16, Pittsburgh, PA, USA, 1995.
12. B. J. McFadyen and:E. Prince. Avoidance and accomodation of surface: height changes by healty, community-dwelling, young, and elderly men. Journal of Gerontology: Biological sciences, 57A(4):B166-B174, 2002.
13. N. Melder and W. Harwin. Extending the friction cone algorithm for arbitrary polygon based haptic objects, In Proceedings of the 12th International Symposium, on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS, pages 234 - 241, Chicago, IL, United States, 2004.
14. T. Morizono, K. Kurahashi, and S. Kawamura. Realization of a virtual, sports training system with parallel wire mechanism. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 4, pages 3025 - 30, Albuquerque, NM, USA, 1997.
15. K. Onuki, H. Yano, H. Saitou, and H. Iwata. Gait rehabilitation with a movable locomotion interface. Transactions of the Society of Instrument and Control Engineers, 43(3):189 - 96, 2007.
16. S.Perreault and C. M. Gosselin. Cable-driven parallel mechanisms : Application to a locomotion interface. In Proceedings of the ASME internationnal Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), Las Vagas, Nevada, USA, September 2007.
17. R. Ramanathan and D. Metaxas. Dynamic deformable models for enhanced haptic rendering in virtual environments. In Proceedings of the Virtual Reality Annual International Symposium, pages 31 - 35, New Brunswick, NJ, USA, 2000.
18. R. Reilly, M. Amirinia, and R. Soames. A two-dimensional imaging walkway for gait analysis. In Proceedings of the 4th IEEE Computer-Based Medical Systems Symposium, pages 145 - 52, Baltimore, MD, USA, 1991.
19. D. Ruspini and O. Khatib. A framework for multi-contact multi-body dynamic simulation and haptic display. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems, volume 2, pages 1322-1327, Takamatsu, 2000.
20. H. Schmidt, S. Hesse, and R. Bernhardt. Hapticwalker-a novel haptic foot device. ACM Trans. Appl. Percept., 2(2):166-180, 2005.
21. SenseGraphics. H3D Open Source Haptics. http://www.h3dapi.org/.
22. R. Smith. ODE, Open Dynamics Engine, http://www.ode.org/.
23. J. Yoon and J. Ryu. Continuous walking over various terrains - a walking Control algorithm for a 12-dof locomotion interface. In Proceedings of the 8th International Conference Knowledge-Based Intelligent Information and Engineering Systems, volume 1, pages 210-17, Wellington, New Zealand, 2004.
24. J. Yoon and J. Ryu. A novel locomotion interface with two 6-dof parallel manipulators that allows human walking on various virtual terrains. International Journal of Robotics/Research, 25(7):689 - 708, 07 2006.