VirSense: a novel haptic device with fixed-base motors and a gravity compensation system

Mashayekhi, Ahmad; Nahvi, Ali; Yazdani, Mehdi; Moghadam, Majid; Arbabtafti, Mohammadreza; Norouzi, Mohsen

doi:10.1108/ir-02-2013-328

Cited by 14 publications

(5 citation statements)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Comparing with gravity compensation by adding counterweights in literature, 15,17 the proposed method has obvious superiority since the mass and inertia of the springbased structure can be neglected and with proper design, the introduced spring structure does not interfere with the mechanism of HFFD-6. On the other hand, comparing with the other specially designed spring-based compensation system in Mashayekhi et al, 16 the proposed spring-based structure can be extended to gravity compensation of different kinds of parallel mechanisms.…”

Section: Introductionmentioning

confidence: 98%

“…Hybrid approaches had been presented in several articles to achieve more accurate gravity compensation and to reduce the demand for motors in the meantime. Mashayekhi et al 16 investigated the gravity compensation method for a novel 6-DOF serial haptic device. The 95% gravity was compensated by two springs and the rest of 5% was compensated by motors.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An active and passive combined gravity compensation approach for a hybrid force feedback device

Wu³

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

When using a force feedback device to interact with a virtual world, the effect of immersion is highly dependent on its performance of gravity compensation. In this work, an active and passive combined gravity compensation approach is presented for a horizontally mounted 6-DOF hybrid force feedback device (HFFD-6). Both active and passive methods are analyzed with simulation and corresponding parameters in the passive approach are then optimized. And to evaluate the performance of the gravity compensation approach, physical experiments are also conducted to measure the gravity compensation errors in the workspace. Moreover, comparison studies are conducted to illustrate the superiority of the proposed approach in terms of output force capability. These experiments have demonstrated that the proposed approach is feasible to achieve gravity compensation and improve the output force capability of the device.

show abstract

Section: Introductionmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

An active and passive combined gravity compensation approach for a hybrid force feedback device

Wu³

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…In the mechanical-structure method, some compensation devices are added to the mechanical structure in Ref. [2][3][4][5]; for example, the gravity was compensated by adding springs to each joint. In the control-analysis method, a feedforward or feedback link is added to the control strategy to compensate its own gravity.…”

Section: Introductionmentioning

confidence: 99%

A Gravity Compensation Algorithm of Robot Manipulator Control based on the Trigonometric Function

Wang,

Chen

2023

FCIS

View full text Add to dashboard Cite

The conventional gravity compensation algorithm requires precise dynamic parameters and a complex matrix transformation operation, which is difficult in applications to real-time control. In this paper, a simple and practical gravity compensation algorithm is proposed based on the space geometry characteristics of a mechanical arm and the principle of torque balance. This algorithm does not require a complex calculation of space coordinate transformation and does not require obtaining all accurate dynamic models and parameters. It only requires estimating the maximum gravity moment of the mechanical arm and simply calculating the trigonometric function. Thus, this algorithm can be extended to a non-parallel shaft mechanical arm, which is suitable for N joints in space. To verify the control effect after gravity compensation, the most easily comprehensible proportional-derivative controller combined with gravity compensation is used to control two-joint and three-joint mechanical arms for simulation. With the gravity compensation and non-compensation of the mechanical arm and with a comparison with other compensation methods, such as the fixed gravity compensation algorithm, the results show that the gravity compensation algorithm can achieve better trajectory tracking control, higher steady-state precision, an effectively reduced work burden of the controller and improved system stability.

show abstract

“…A haptic system is a combination of a haptic device (either a serial type manipulator such as VirSense haptic device, 1 or a parallel type such as Omega haptic device, 2 which is in contact with an operator for feeling and sensing the virtual objects. 3 This virtual object can be simulated graphically in a 3D format on a monitor.…”

Section: Introduction and Related Workmentioning

confidence: 99%

A Review on stability and passivity analysis of haptic devices

Mashayekhi¹,

Akhoundi²,

Modanloo³

2022

IRATJ

Self Cite

View full text Add to dashboard Cite

Haptic devices are robots that are used for simulating virtual objects for their operators. Since most real objects can be modelled by spring and dampers, the virtual object is also a (discrete) spring and damper. The discretization is done with a constant sampling time, while a time delay may exist in the control loop, due to do different sources. Simulating stiff objects is a challenging problem since severe vibrations occur in the body of the haptic device and may damage itself or even its operator. The stable operation of a haptic device is a key problem in all haptic applications. It is shown that using smaller values of sampling time and time delay, can make an increase in the stability domain; while increasing effective mass and friction has the same result. In this paper, a review of the stability and passivity of haptic devices is presented and helps the readers to know better recent activities in this field.

show abstract

VirSense: a novel haptic device with fixed-base motors and a gravity compensation system

Cited by 14 publications

References 28 publications

An active and passive combined gravity compensation approach for a hybrid force feedback device

An active and passive combined gravity compensation approach for a hybrid force feedback device

A Gravity Compensation Algorithm of Robot Manipulator Control based on the Trigonometric Function

A Review on stability and passivity analysis of haptic devices

Contact Info

Product

Resources

About