Passive virtual fixtures based on simulated position-dependent anisotropic plasticity

Ryo Kikuuwe, Naoyuki Takesue, Hideo Fujimoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2007 IEEE International Conference on Robotics and Automation, ICRA'07
ページ3263-3268
ページ数6
DOI
出版ステータス出版済み - 11 27 2007
イベント2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, イタリア
継続期間: 4 10 20074 14 2007

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

その他

その他2007 IEEE International Conference on Robotics and Automation, ICRA'07
国/地域イタリア
CityRome
Period4/10/074/14/07

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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