On the development of a programmable inertia generator

Authors: Gosselin, ClémentCampeau-Lecours, AlexandreLaliberté, ThierryLessard, François
Abstract: 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.
Document Type: Article dans une conférence
Issue Date: 13 June 2012
Open Access Date: 14 November 2018
Document version: AM
Permalink: http://hdl.handle.net/20.500.11794/32364
This document was published in: Experimental Robotics, Vol. 89, 1-12 (2013)
Springer Link
Alternative version: 10.1007/978-3-319-00065-7_1
Collection:Articles publiés dans des revues avec comité de lecture

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