Control of a high fidelity ungrounded torque feedback device: The iTorqU 2.1

Kyle N. Winfree, Joseph M. Romano, Jamie Gewirtz, Katherine J. Kuchenbecker

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages1347-1352
Number of pages6
DOIs
StatePublished - 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/TerritoryUnited States
CityAnchorage, AK
Period5/3/105/7/10

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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