کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10407740 | 893106 | 2005 | 16 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Modeling the human hand as it interacts with a telemanipulation system
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
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چکیده انگلیسی
This paper describes the development of a linear lumped-parameter hand/arm model for the operator of a telemanipulation system. The authors previously developed a control architecture that implements frequency-domain loop-shaping compensators to improve the transparency or “feel” of a telemanipulation system, and a human model is used when simulating this architecture. Typically, the human is modeled as a second order mass-spring-damper system. The five-parameter model presented in this paper, however, includes an additional spring and damper to better approximate the dynamics within the specific frequency range for which compensators will be designed, typically below 20-30Â Hz. The model form and parameters were determined from experimental data taken from a telemanipulation system with a single translational degree-of-freedom. Additional data was taken from a system with three actuated degrees-of-freedom, and a set of model parameters was determined for each direction of motion. Each set of model parameters presented in this paper is for the specific grip type and hand/arm orientation used during interaction with each particular telemanipulation system, however similar sets of parameters using this human model could be obtained for interaction with other telemanipulation systems and haptic interfaces. A comparison of the five-parameter model with a two-parameter spring-damper model suggests that in some cases the use of additional model parameters may not offer a significant improvement.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 15, Issue 9, November 2005, Pages 1127-1142
Journal: Mechatronics - Volume 15, Issue 9, November 2005, Pages 1127-1142
نویسندگان
John E. Speich, Liang Shao, Michael Goldfarb,