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Publication :
On the development of a programmable inertia generator

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Date

2012-06-13

Direction de publication

Direction de recherche

Titre de la revue

ISSN de la revue

Titre du volume

Éditeur

Springer Link

Projets de recherche

Structures organisationnelles

Numéro de revue

Résumé

This paper presents a preliminary investigation on a one-degree-of-freedom programmable inertia generator. An inertia generator is a hand-held haptic device that has a programmable inertia. By moving internal masses in reaction to accelerations induced by the user, the effective intertia of the device is modified in order to render a prescribed perceived inertia. In this paper, a one-degree-of-freedom device with one internal moving mass is proposed. The dynamic modelling of the system is first presented. Then, a controller is designed to produce the appropriate motion of the internal mass in reaction to the acceleration induced by the user. A prototype is presented and experimental results are discussed.

Description

Revue

Experimental Robotics, Vol. 89, 1-12 (2013)

DOI

10.1007/978-3-319-00065-7_1

URL vers la version publiée

Mots-clés

Mobile Robot, Admittance Control, Measured Force, Inertial Frame, Internal Mass

Citation

Licence CC