Passive virtual fixtures based on simulated position-dependent anisotropic plasticity

Ryo Kikuuwe, Naoyuki Takesue, Hideo Fujimoto

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

5 Citations (Scopus)

Abstract

This paper presents an approach for producing virtual fixture based on simulated plasticity, which can be used for assisting precise manual manipulations performed by human users through haptic Interfaces. The fixture acts as a guide to help path-tracing tasks and as a wall for preventing a tool from entering a specified region, but the user can move against the fixture by intentionally producing a force larger than a predetermined yield force. The advantage of the proposed virtual fixture is that it is always passive and it acts as a hard fixture when the user's force is smaller than the yield force. The algorithm was demonstrated through experiments using an impedance-type haptic interface.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages3263-3268
Number of pages6
DOIs
Publication statusPublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

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

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

All Science Journal Classification (ASJC) codes

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

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  • Cite this

    Kikuuwe, R., Takesue, N., & Fujimoto, H. (2007). Passive virtual fixtures based on simulated position-dependent anisotropic plasticity. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 3263-3268). [4209594] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.363976