지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 1,314 - 1,319 (6page)
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초록· 키워드
오류제보하기
The new passivity condition including the human arm impedance shows that the achievable maximum stiffness at each sampling period depends on the local minimum viscosity of the human arm during the sampling period. Based on the analytical results and the characteristics of the human arm, a new control scheme is proposed to improve the performance of the haptic system, when the human arm impedance varies largely. We present a method to predict the local minimum of the human arm viscosity at every sampling period and design an adaptive virtual coupling that maximizes the performance of the system while guaranteeing the passivity of the system. The newly defined Passivity Margin Tracker (PMT) tracks how much more conservative the haptic system is than the ideal mass-spring system in the aspect of the passivity. These results are verified through experiments to affirm that the proposed method is shown to usefully improve the performance of a haptic system if the human arm viscosity is initially calibrated.
목차
Abstract
1. INTRODUCTION
2. REVIEW OF THE NEW PASSIVITY CONDITION
3. ADAPTIVE TIME-DOMAIN CONTROL SCHEME
4. EXPERIMENTAL VALIDATION
5. CONCLUSION
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000914697