Low-force kinesthetic guidance for accurate positioning and tracking

Ryo Kikuuwe, Takahiro Yamamoto, Hideo Fujimoto

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

2 Citations (Scopus)

Abstract

This paper considers the application of a low-force robotic manipulator to guide a human user's movement to locate a tool at a predetermined position or to move a tool along a predetermined trajectory. In this application, the guidance must be sufficiently smooth because the user's force can easily overcome the guiding force. The proxy-based sliding mode control, which we previously proposed, is capable of achieving a smooth overdamped convergence to a given position, without overshoots, with a limited actuator torque. This paper proposes the application of the proxy-based sliding mode control to low-force kinesthetic guidance. Experimental results demonstrate the effectiveness of this application, showing that the time constant of the guidance control should be set around 0.1 sec rather than 0.01 sec or 0.5 sec.

Original languageEnglish
Title of host publication14th Symposium onHaptics Interfaces for Virtual Environment andTeleoperator Systems 2006 - Proceedings
Pages491-498
Number of pages8
Publication statusPublished - Nov 17 2006
Event14th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2006 - Alexandria, VA, United States
Duration: Mar 25 2006Mar 26 2006

Publication series

Name14th Symposium onHaptics Interfaces for Virtual Environment andTeleoperator Systems 2006 - Proceedings
Volume2006

Other

Other14th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2006
CountryUnited States
CityAlexandria, VA
Period3/25/063/26/06

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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  • Cite this

    Kikuuwe, R., Yamamoto, T., & Fujimoto, H. (2006). Low-force kinesthetic guidance for accurate positioning and tracking. In 14th Symposium onHaptics Interfaces for Virtual Environment andTeleoperator Systems 2006 - Proceedings (pp. 491-498). [1627114] (14th Symposium onHaptics Interfaces for Virtual Environment andTeleoperator Systems 2006 - Proceedings; Vol. 2006).