Abstract
A control method based on instantaneous interaction energy is used to control a hybrid haptic actuator, comprising magnetorheological brake and a DC motor, linked in parallel. We have combined this method with a quantitative analysis of interaction forces to develop two control variants, which can determine an optimal sharing of efforts between the active and dissipative actuators and make the system more reactive. The proposed control laws have been validated in a rotary 1-DOF force-feedback device.
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© 2012 Springer-Verlag Berlin Heidelberg
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Rossa, C., Lozada, J., Micaelli, A. (2012). Interaction Power Flow Based Control of a 1-DOF Hybrid Haptic Interface. In: Isokoski, P., Springare, J. (eds) Haptics: Perception, Devices, Mobility, and Communication. EuroHaptics 2012. Lecture Notes in Computer Science, vol 7283. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31404-9_26
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DOI: https://doi.org/10.1007/978-3-642-31404-9_26
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-31403-2
Online ISBN: 978-3-642-31404-9
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