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- Publisher Website: 10.1109/IROS.2010.5649497
- Scopus: eid_2-s2.0-78651502394
- WOS: WOS:000287672001052
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Conference Paper: Motion control of passive haptic device using wires with servo brakes
| Title | Motion control of passive haptic device using wires with servo brakes |
|---|---|
| Authors | |
| Issue Date | 2010 |
| Citation | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, p. 3123-3129 How to Cite? |
| Abstract | In this paper, we introduce a passive haptic device which consists of wires with servo brakes and its control method for physical support of human being. Since servo brakes control a point constrained by wires, this passive system is intrinsically safe and has a wide operating range. We especially develop a motion support system controlled on plane and conduct a path following experiment for illustrating a possibility of the passive haptic device with wires. We also analyze the system's characteristics by calculating the feasible braking force, and then improve the operating range of the system based on the analysis. Experimental results on path following function illustrate the validity of the system and its control method. ©2010 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/302858 |
| ISI Accession Number ID |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.contributor.author | Suzuki, Keitaro | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:43Z | - |
| dc.date.available | 2021-09-07T08:42:43Z | - |
| dc.date.issued | 2010 | - |
| dc.identifier.citation | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, p. 3123-3129 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302858 | - |
| dc.description.abstract | In this paper, we introduce a passive haptic device which consists of wires with servo brakes and its control method for physical support of human being. Since servo brakes control a point constrained by wires, this passive system is intrinsically safe and has a wide operating range. We especially develop a motion support system controlled on plane and conduct a path following experiment for illustrating a possibility of the passive haptic device with wires. We also analyze the system's characteristics by calculating the feasible braking force, and then improve the operating range of the system based on the analysis. Experimental results on path following function illustrate the validity of the system and its control method. ©2010 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings | - |
| dc.title | Motion control of passive haptic device using wires with servo brakes | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/IROS.2010.5649497 | - |
| dc.identifier.scopus | eid_2-s2.0-78651502394 | - |
| dc.identifier.spage | 3123 | - |
| dc.identifier.epage | 3129 | - |
| dc.identifier.isi | WOS:000287672001052 | - |