Related Experiment Video
Updated: Jul 15, 2026
08:55
Use of a Foot-Induced Digitally Controlled Resistance Device for Functional Magnetic Resonance Imaging Evaluation in Patients with Foot Paresis
Published on: July 7, 2023
Energy-based control of a haptic device using brakes.
Changhyun Cho1, Jae-Bok Song, Munsang Kim
1Korea Institute of Science and Technology, Center for Intelligent Robotics, Seoul 136-791, Korea. chcho@kist.re.kr
Summary
This study introduces an energy-based control for haptic devices with electric brakes, improving wall-following smoothness. The new method addresses unsmooth motion by analyzing the system's energy behavior for better control.
Area of Science:
- Robotics
- Control Systems
- Human-Computer Interaction
Background:
- Haptic devices with electric brakes often exhibit unsmooth motion during tasks like wall-following.
- The passive nature of brakes in haptic systems has limited investigation into their energy behavior.
- Observed unsmooth motion suggests active system behavior in specific directions, contrary to general assumptions.
Purpose of the Study:
- To propose an energy-based control method for haptic devices utilizing electric brakes.
- To investigate and address the issue of unsmooth motion in brake-based haptic systems.
- To enhance the performance of wall-following tasks in haptic interactions.
Main Methods:
- Developed an energy-based control strategy for haptic devices with electric brakes.
- Analyzed the energy behavior of the haptic system, particularly during wall-following.
- Implemented a force control scheme that calculates gains based on system energy dynamics.
Main Results:
- The proposed control method effectively smooths motion in haptic systems using electric brakes.
- Experimental results demonstrate successful smooth wall-following capabilities.
- The study validates that considering energy behavior is key to improving haptic system performance.
Conclusions:
- An energy-based control approach can overcome the limitations of electric brakes in haptic devices.
- Smooth and predictable motion is achievable in wall-following tasks with the proposed control scheme.
- Further research into the energy dynamics of haptic systems can lead to significant performance improvements.
Related Concept Videos
01:26Feedback control systems
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
01:19Electro-mechanical Systems
Electromechanical systems are intricate configurations that effectively combine electrical and mechanical elements to achieve a desired outcome. Central to many of these systems is the DC motor, a device that converts electrical energy into mechanical motion, enabling various applications ranging from simple fans to complex robotic mechanisms.
A key component of the DC motor is the armature, a rotating circuit positioned within a magnetic field. As an electric current passes through the...
A key component of the DC motor is the armature, a rotating circuit positioned within a magnetic field. As an electric current passes through the...
01:26PD Controller: Design
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
01:05Static and Kinetic Frictional Force
One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
However, if two systems are in contact and are stationary relative to one...
However, if two systems are in contact and are stationary relative to one...
01:20Motor Unit Stimulation
When the neuron of a motor unit fires an action potential, it triggers a series of events, leading to a twitch contraction in the muscle fibers. The process of excitation-contraction coupling is crucial in relaying the action potential to the muscle fibers.
The latent period of contraction marks the onset of excitation-contraction coupling, when the action potential propagates across the sarcolemma, preparing the muscle fibers for contraction. As the fibers enter the contraction phase, the...
The latent period of contraction marks the onset of excitation-contraction coupling, when the action potential propagates across the sarcolemma, preparing the muscle fibers for contraction. As the fibers enter the contraction phase, the...
00:57Power Expended by a Constant Force
The relationship between work done and the time taken to do it can be explained using the concept of power. For example, several sprinters in a race may have the same velocity when they reach the finish line, therefore doing the same amount of work, but the winner does it in the least amount of time. Thus, power is defined as the rate of doing work. Since work can vary as a function of time, the average power is defined as the work done during a time interval, divided by the time interval.