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.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.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.subject.rvmInertie (Mécanique)fr
dc.subject.rvmInterfaces haptiquesfr
dc.subject.rvmRobots mobilesfr
rioxxterms.versionAccepted Manuscriptfr
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

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