IEEE - Institute of Electrical and Electronics Engineers, Inc. - Optimized passive dynamics improve transparency of haptic devices

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Vallery, H. ; Duschau-Wicke, A. ; Riener, R.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Kobe, Japan, Japan
Conference Date: 12 May 2009
Page(s): 301 - 306
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152619
Regular:

For haptic devices, compensation of the robot's gravity is a frequent strategy with the aim to reduce interaction forces between robot and human in zero-impedance control. However, a closer look... View More

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