Energy-Based Control of a Haptic Device Using Brakes

@article{Cho2007EnergyBasedCO,
  title={Energy-Based Control of a Haptic Device Using Brakes},
  author={Changhyun Cho and Jae-Bok Song and Munsang Kim},
  journal={IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)},
  year={2007},
  volume={37},
  pages={341-349}
}
This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the… CONTINUE READING
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