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HAPTICS
2005
IEEE

Friction Modeling and Compensation for Haptic Interfaces

9 years 9 months ago
Friction Modeling and Compensation for Haptic Interfaces
Friction cancellation and high gain force feedback are studied for their relative benefits in mitigating the effects of friction in haptic interfaces. Although either technique alone is capable of significant improvements, we find that a combination of approximate cancellation coupled with variable-gain low-bandwidth force feedback provides excellent friction reduction and is more robust. This improves the feel of the haptic interface, and provides significant linearization of the interface dynamics for more accurate model-based control.
Nicholas L. Bernstein, Dale A. Lawrence, Lucy Y. P
Added 24 Jun 2010
Updated 24 Jun 2010
Type Conference
Year 2005
Where HAPTICS
Authors Nicholas L. Bernstein, Dale A. Lawrence, Lucy Y. Pao
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