On the development of a programmable inertia generator

DC FieldValueLanguage
dc.contributor.authorGosselin, Clément-
dc.contributor.authorCampeau-Lecours, Alexandre-
dc.contributor.authorLaliberté, Thierry-
dc.contributor.authorLessard, François-
dc.date.accessioned2018-11-14T21:17:46Z-
dc.date.available2018-11-14T21:17:46Z-
dc.date.issued2012-06-13-
dc.identifier.issn978-3-319-00064-0fr
dc.identifier.urihttp://hdl.handle.net/20.500.11794/32364-
dc.description.abstractThis 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.fr
dc.languageengfr
dc.publisherSpringer Linkfr
dc.subjectMobile Robotfr
dc.subjectAdmittance Controlfr
dc.subjectMeasured Forcefr
dc.subjectInertial Framefr
dc.subjectInternal Massfr
dc.titleOn the development of a programmable inertia generatorfr
dc.typeCOAR1_1::Texte::Contribution à une conférence::Actes de conférence::Article dans une conférencefr
dcterms.bibliographicCitationExperimental Robotics, Vol. 89, 1-12 (2013)fr
dc.identifier.doi10.1007/978-3-319-00065-7_1fr
dc.subject.rvmInertie (Mécanique)fr
dc.subject.rvmInterfaces haptiquesfr
dc.subject.rvmRobots mobilesfr
rioxxterms.versionAccepted Manuscriptfr
rioxxterms.version_of_recordhttps://doi.org/10.1007/978-3-319-00065-7_1fr
rioxxterms.project.funder_nameNatural Sciences and Engineering Research Council of Canadafr
rioxxterms.project.funder_nameCanada Research Chair Programfr
rioxxterms.project.funder_nameFonds de Recherche du Québec - Nature et Technologiesfr
bul.rights.periodeEmbargo0 moisfr
Collection:Articles publiés dans des revues avec comité de lecture

Files in this item:
Description SizeFormat 
87ccfd336792b633ea31fac78d6de21aa7cd.pdf963.62 kBAdobe PDFThumbnail
View/Open
All documents in CorpusUL are protected by Copyright Act of Canada.