DC Field | Value | Language |
---|---|---|
dc.contributor.author | Singh, Harsimran | ko |
dc.contributor.author | Janetzko, Dominik | ko |
dc.contributor.author | Jafari, Aghil | ko |
dc.contributor.author | Weber, Bernhard | ko |
dc.contributor.author | Lee, Chan-Il | ko |
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.date.accessioned | 2019-12-17T08:20:05Z | - |
dc.date.available | 2019-12-17T08:20:05Z | - |
dc.date.created | 2019-12-17 | - |
dc.date.created | 2019-12-17 | - |
dc.date.created | 2019-12-17 | - |
dc.date.created | 2019-12-17 | - |
dc.date.created | 2019-12-17 | - |
dc.date.issued | 2020-01 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.67, no.1, pp.809 - 819 | - |
dc.identifier.issn | 0278-0046 | - |
dc.identifier.uri | http://hdl.handle.net/10203/269794 | - |
dc.description.abstract | There have been numerous approaches that have been proposed to enlarge the impedance range of haptic interaction while maintaining stability. However, enhancing the rate-hardness of haptic interaction while maintaining stability is still a challenging issue. The actual perceived rate-hardness has been much lower than what the users expect to feel. In this paper, we propose the successive force augmentation (SFA) approach, which increases the impedance range by adding a feed-forward force offset to the state-dependent feedback force rendered using a low stiffness value. This allows the proposed approach to display stiffness of up to 10 N/mm with Phantom Premium 1.5. It was possible to further enhance the rate-hardness by using the original value of virtual environment stiffness for feedback force calculation during the transient response followed by normal SFA. Experimental evaluation for multi-DoF virtual environment exhibited a much higher displayed stiffness and rate-hardness compared to conventional approaches. Two user studies revealed that the increase of rate-hardness due to SFA allowed the participants to have a faster reaction time to an unexpected collision with a virtual wall and accurately discriminate between four virtual walls of different stiffness. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Enhancing the Rate-Hardness of Haptic Interaction: Successive Force Augmentation Approach | - |
dc.type | Article | - |
dc.identifier.wosid | 000490858500075 | - |
dc.identifier.scopusid | 2-s2.0-85072107468 | - |
dc.type.rims | ART | - |
dc.citation.volume | 67 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 809 | - |
dc.citation.endingpage | 819 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | - |
dc.identifier.doi | 10.1109/TIE.2019.2918500 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.nonIdAuthor | Singh, Harsimran | - |
dc.contributor.nonIdAuthor | Janetzko, Dominik | - |
dc.contributor.nonIdAuthor | Jafari, Aghil | - |
dc.contributor.nonIdAuthor | Weber, Bernhard | - |
dc.contributor.nonIdAuthor | Lee, Chan-Il | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Haptics and haptic interface | - |
dc.subject.keywordAuthor | passivity criterion | - |
dc.subject.keywordAuthor | physical human-robot interaction | - |
dc.subject.keywordAuthor | rate-hardness | - |
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