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A new impedance force control of a haptic teleoperation system for improved transparency

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Abstract

In this study, a new impedance force control model of a haptic device for teleoperation is developed and analyzed. A new contact force model for the haptic device and the human hand is provided. Movements of the human hand give additional force disturbances to the force control system. Disturbance force model by haptic dynamics and hand movements is fully analyzed and included in the control system design. An adaptive control scheme is proposed to improve system transparency by achieving good force tracking performance, while simultaneously compensating human hand disturbances and sensor noises. A separate reference model for every DOF is proposed to satisfy tracking performances. Adaptive control gains cover force tracking performance and compensates for human hand disturbances while providing robustness to sensor noises.

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Authors and Affiliations

  1. School of Mechanical Engineering, Kyungnam University, Changwon, 51773, Korea

    Uhn Joo Na

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  1. Uhn Joo Na
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Correspondence to Uhn Joo Na.

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Recommended by Associate Editor Sangyoon Lee

Uhn Joo Na received the Ph.D. degree in mechanical engineering from Texas A&M University, College Station, in 2000. He was a Senior Researcher at Korea Institute of Machinery and Material (KIMM) from 2002 to 2004 before joining the Faculty at Kyungnam University, Changwon, Korea. His current research interests include haptic device design and control, teleoperation, robotics, and magnetic bearings.

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Na, U.J. A new impedance force control of a haptic teleoperation system for improved transparency. J Mech Sci Technol 31, 6005–6017 (2017). https://doi.org/10.1007/s12206-017-1145-6

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  • DOI: https://doi.org/10.1007/s12206-017-1145-6

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