Increasing the Impedance Range of a Haptic Display by Adding Electrical Damping

Mehling, Joshua S.; Colgate, J. Edward; Peshkin, Michael A.

doi:10.1109/whc.2005.79

Cited by 95 publications

(53 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this way one converts mechanical energy to the electrical domain where it is dissipated through a resistor. In previous work the same effect has been used in the context of designing adjustable dampers in haptic interfaces [19], [20]. To the authors knowledge, the present paper is the first to combine variable physical stiffness and damping in a single actuator with this approach.…”

Section: Related Workmentioning

confidence: 86%

Exploiting variable physical damping in rapid movement tasks

Radulescu

Howard

Braun

et al. 2012

2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

View full text Add to dashboard Cite

Abstract-Until now, design of variable physical impedance actuators (VIAs) has been limited mainly to realising variable stiffness while other components of impedance shaping, such as damping, are either fixed (e.g., with the addition of fixed passive dampers) or modulated with active feedback control schemes. In this work we introduce an actuator that is capable of simultaneous and independent physical damping and stiffness modulation. Using optimal control techniques, we explore how variable physical damping can be exploited in such an actuator in the context of rapid movement. Several numerical simulation results are presented, in addition to an experiment realised on variable impedance robotic hardware.

show abstract

Section: Related Workmentioning

confidence: 86%

Exploiting variable physical damping in rapid movement tasks

Radulescu

Howard

Braun

et al. 2012

2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

View full text Add to dashboard Cite

show abstract

“…This approach essentially involves using an external controlled resistor to dissipate the energy and to provide an adaptive electrical impedance damping torque without an expenditure of high level of electrical power. This approach was used in some haptic devices [20,21]. Although this approach dissipates the energy to heat in the external controlled resistor, it is easier to implement.…”

Section: Electrical Systemmentioning

confidence: 99%

Motor electrical damping for back-drivable prosthetic knee

Awad

Dehghani-Sanij

Moser

et al. 2016

2016 11th France-Japan &Amp; 9th Europe-Asia Congress on Mechatronics (MECATRONICS) /17th International Conference on Research

View full text Add to dashboard Cite

Abstract-The paper presents a model and analysis of a backdrivable knee prosthesis. In this context, the investigation into the design, modelling and analysis of a back-drivable semiactive prosthetic knee is presented. A mathematical model has been developed for evaluating the electrical damping characteristics of the DC motor in passive mode. The analysis shows that a single actuator could be suitable to work in active mode to provide mechanical power and in passive mode as a damper dissipating energy.

show abstract

“…Further experimental studies confirm the result that increasing both the physical viscous damping-i.e. electrically (Mehling et al, 2005), (Tognetti & Book, 2006) or magnetically (Gosline et al, 2006)-and the virtual damping , (Janabi-Sharifi et al, 2000) allows for larger stable stiffness coefficients.…”

Section: Parametermentioning

confidence: 99%