TY - GEN
T1 - Control of a high fidelity ungrounded torque feedback device
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
AU - Winfree, Kyle N.
AU - Romano, Joseph M.
AU - Gewirtz, Jamie
AU - Kuchenbecker, Katherine J.
PY - 2010
Y1 - 2010
N2 - This paper outlines how a control moment gyroscope can be used to generate haptic torque feedback while minimizing the effects of a constrained gimbal workspace. We present the design of the iTorqU 2.1 and discuss how it compares to previously developed systems. We then detail the control algorithms we have developed for both transparency and torque output modes. The prescribed transparency controller is typical in design, but the torque output algorithm is novel to this type of haptic device. It makes use of a series of position-p-at-time-t commands, which we call packets. Five packet designs were considered in this research, but we have included only the most important three in this paper. While this research deals with torque feedback, it ultimately presents a method for working with devices that are limited by the need for continuous reset to a home position before subsequent outputs.
AB - This paper outlines how a control moment gyroscope can be used to generate haptic torque feedback while minimizing the effects of a constrained gimbal workspace. We present the design of the iTorqU 2.1 and discuss how it compares to previously developed systems. We then detail the control algorithms we have developed for both transparency and torque output modes. The prescribed transparency controller is typical in design, but the torque output algorithm is novel to this type of haptic device. It makes use of a series of position-p-at-time-t commands, which we call packets. Five packet designs were considered in this research, but we have included only the most important three in this paper. While this research deals with torque feedback, it ultimately presents a method for working with devices that are limited by the need for continuous reset to a home position before subsequent outputs.
UR - http://www.scopus.com/inward/record.url?scp=77955797733&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955797733&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509485
DO - 10.1109/ROBOT.2010.5509485
M3 - Conference contribution
AN - SCOPUS:77955797733
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1347
EP - 1352
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -