Fine Force Reproduction of Environmental Haptic Sensations Based on Momentum Control

Abstract

This paper focuses on the reproduction system for the environmental haptic sensations. The conventional reproduction system is based on force control. However, the resolution of the force command value is determined by the resolution of the encoder and the D/A board. The resolution of the force command value becomes insufficient in a high-stiffness… (More)
DOI: 10.1109/TIE.2016.2531019

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