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Sensorless Force Approximation Control of 3-DOF Passive Haptic Devices

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Smart Multimedia (ICSM 2022)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 13497))

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Abstract

Haptic devices using passive actuators such as brakes are intrinsically stable and offer greater transparency compared to traditional haptic devices actuated by electric motors. However, force control in passive haptic devices is particularly challenging and relies heavily on the use of force sensors, which can significantly increase the device’s inertia and bandwidth. This paper proposes to use a nonlinear disturbance observer based on a Newtonian dynamic model of a 3-Degree-of-Freedom delta passive haptic device to estimate the force input of the user. The observer is tested using a series of simulations and the results confirm that the estimated input force closely matches the actual input force even when the system is subjected to unmodelled dynamics such as the brake’s hysteresis.

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Author information

Authors and Affiliations

  1. Haply Robotics, Montreal, QC, Canada

    Maciej Ła̧cki

  2. Carleton University, Ottawa, ON, Canada

    Carlos Rossa

Authors
  1. Maciej Ła̧cki
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  2. Carlos Rossa
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Corresponding author

Correspondence to Maciej Ła̧cki .

Editor information

Editors and Affiliations

  1. University of Florence, Florence, Italy

    Stefano Berretti

  2. Dolby Labs, California, CA, USA

    Guan-Ming Su

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Ła̧cki, M., Rossa, C. (2022). Sensorless Force Approximation Control of 3-DOF Passive Haptic Devices. In: Berretti, S., Su, GM. (eds) Smart Multimedia. ICSM 2022. Lecture Notes in Computer Science, vol 13497. Springer, Cham. https://doi.org/10.1007/978-3-031-22061-6_28

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  • DOI: https://doi.org/10.1007/978-3-031-22061-6_28

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-22060-9

  • Online ISBN: 978-3-031-22061-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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