...Abhishek Gupta; Marcia K. O’Malley In this paper, we propose the use of a nonlinear disturbance-observer for estimation of contact forces during haptic interactions. Most commonly used impedance-type haptic interfaces employ open-loop force control under the assumption of pseudostatic interactions...

...Marcia K. O’Malley; Abhishek Gupta; Matthew Gen; Yanfang Li This paper presents a shared-control interaction paradigm for haptic interface systems, with experimental data from two user studies. Shared control, evolved from its initial telerobotics applications, is adapted as a form of haptic...

... performing similar tasks. 07 02 2005 14 11 2005 haptic interfaces robot dynamics path planning mobile robots inertia ellipse apparent inertia passive robot cobot effective mass When a human user interacts with a passive manipulandum, or more generally with a robot...

... With Virtual Environments ,” IEEE Trans. Rob. Autom. 1042-296X , 15 ( 3 ), pp. 465 – 474 . Sirouspour , M. , DiMaio , S. , Salcudean , S. , Abolmaesumi , P. , and Jones , C. , 2000 , “ Haptic Interface Control—Design Issues and Experiments With a Planar Device ,” in Proc. IEEE...

... on stable slave-side virtual fixture stiffness does not depend on the particular user. telerobotics manipulators haptic interfaces vibrations stability Telemanipulation is the direct human control of a robotic manipulator, where the operator and the manipulator are at different locations...

...-forward term. Figure 9 shows the block diagram of the linear PI controller without using the identified model. Linear PI controller 25 01 2004 09 06 2005 haptic interfaces force feedback torque control electrorheology closed loop systems viscosity nonlinear control...

... and a time forward observer), bandwidth issues, and some related programming details. Experimental results of bilateral teleoperation via the Internet between Atlanta and Tokyo are given. The system used is a two-degree-of-freedom haptic interface, bilaterally coupled to a simulation (implemented...

..., MEASUREMENT, AND CONTROL . Manuscript received by the Dynamic Systems and Control Division March 1, 2000. Associate Technical Editors: E. Misawa and V. Utkin. 01 March 2000 friction compensation force feedback haptic interfaces telerobotics manipulators virtual reality variable...