This article presents a strategy of haptic guidance for training based on a sub-optimal control law for path planning, designed from theory passive and applied to haptic devices modeling as manipulators robots with contact task, considering the human operator in the control loop. The experiments were developed with the PHANToM premium 1.0 haptic device and a closed path planning in its space of admissible configurations with presence of extern disturbances for proof experimental of robust.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Haptic Guidance Based on Sub-optimal Passivity Control




    Publication date :

    2009-09-01


    Size :

    940717 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Testing Time Domain Passivity Control of Haptic Enabled Systems

    Hannaford, Blake / Ryu, Jee-Hwan / Kwon, Dong-Soo et al. | Springer Verlag | 2003


    Multi-Agent Passivity-based Control for Perception-based Guidance

    Deole, Aditya / Talebi, Shahriar / Kraisler, Spencer et al. | TIBKAT | 2023


    Multi-Agent Passivity-based Control for Perception-based Guidance

    Deole, Aditya / Talebi, Shahriar / Kraisler, Spencer et al. | AIAA | 2023


    HAPTIC GUIDANCE SYSTEM

    VERBEKE JOSEPH / BOULANGER ADAM / MARTI STEFAN et al. | European Patent Office | 2023

    Free access

    Haptic guidance system

    VERBEKE JOSEPH / BOULANGER ADAM / MARTI STEFAN et al. | European Patent Office | 2021

    Free access