TY - GEN
T1 - Passive virtual fixtures based on simulated position-dependent anisotropic plasticity
AU - Kikuuwe, Ryo
AU - Takesue, Naoyuki
AU - Fujimoto, Hideo
PY - 2007/11/27
Y1 - 2007/11/27
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=36349035991&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2007.363976
DO - 10.1109/ROBOT.2007.363976
M3 - Conference contribution
AN - SCOPUS:36349035991
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3263
EP - 3268
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -