{"title":"Force-feedback coupling for micro-handling applications","authors":"G. Venture, D. Haliyo, A. Micaelli, S. Régnier","doi":"10.1163/156856306777924635","DOIUrl":null,"url":null,"abstract":"This paper presents a coupling method in order to establish force-feedback user interaction with a micromanipulator. The presented control scheme design is based on stability considerations and, hence, allows unconditional stable operation independently on the haptic interface, micromanip- ulator and scaling ratios on force and position. Experimental comparison of proposed coupling with a common force-position coupling is also included.","PeriodicalId":150257,"journal":{"name":"Journal of Micromechatronics","volume":"30 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Micromechatronics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1163/156856306777924635","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
This paper presents a coupling method in order to establish force-feedback user interaction with a micromanipulator. The presented control scheme design is based on stability considerations and, hence, allows unconditional stable operation independently on the haptic interface, micromanip- ulator and scaling ratios on force and position. Experimental comparison of proposed coupling with a common force-position coupling is also included.
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