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.
| 元の言語 | 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 | |
| 出版物ステータス | 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 2007 → 4 14 2007 |
出版物シリーズ
| 名前 | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| ISSN（印刷物） | 1050-4729 |
その他
| その他 | 2007 IEEE International Conference on Robotics and Automation, ICRA'07 |
|---|---|
| 国 | イタリア |
| 市 | Rome |
| 期間 | 4/10/07 → 4/14/07 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
これを引用
Passive virtual fixtures based on simulated position-dependent anisotropic plasticity. / Kikuuwe, Ryo; Takesue, Naoyuki; Fujimoto, Hideo.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 3263-3268 4209594 (Proceedings - IEEE International Conference on Robotics and Automation).研究成果: 著書/レポートタイプへの貢献 › 会議での発言
}
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
UR - http://www.scopus.com/inward/citedby.url?scp=36349035991&partnerID=8YFLogxK
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
ER -