Sliding Mode Friction Compensation for a 20 DOF Sensor Glove

[+] Author and Article Information
Péter Korondi, Péter T. Szemes, Hideki Hasimoto

Institute of Industrial Science, University of Tokyo, 7-22-1, Roppongi, Minato, Tokyo 106, Japan

J. Dyn. Sys., Meas., Control 122(4), 611-615 (Mar 01, 2000) (5 pages) doi:10.1115/1.1317232 History: Received March 01, 2000
Copyright © 2000 by ASME
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The configuration of glove type haptic device
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(a) Inverse model based disturbance compensation; (b) direct model based disturbance compensation
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Position controller scheme
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PD type controller with and without disturbance observer
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Experimental results of one joint of glove type device; (left) PID, (right) PID with disturbance observer, angle of motor, torque of human joint, output voltage, and estimated disturbance
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Sliding mode disturbance compensation
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Discrete-time chattering phenomenon
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Structure of the sensor glove
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The control scheme for master device operation
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Geometry of virtual wall experiment
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Depth of fingertip, torques, and angles of joints
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Visual feedback of the operator



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