Active force reflection devices in teleoperation
- 1 January 1991
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems
- Vol. 11 (1) , 52-56
- https://doi.org/10.1109/37.103357
Abstract
A methodology for designing force-reflecting active controllers in cases involving teleoperation is presented. Certain types of force loop configurations nested within a position loop are shown to provide more information about the environment to the human, and that improves interaction. The procedure of modulating the controller to match the integral of its inverse mechanical impedance to the plant is given. Experimental data involving subjects are used to validate the approach.Keywords
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