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
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