@inproceedings{d398e6aa4cee4e56b6fd1e7f4029b4f1,
title = "Control and performance evaluation of a new redundant haptic interface",
abstract = "A new redundant haptic interface has been developed to overcome the disadvantages of most commercial devices: low force/torque capability, small workspace and limited degrees of freedom. In order to control the new device, two kinds of inverse kinematics will be investigated: an inverse function and a partitioned inverse kinematic solution. Moreover two different motion controllers will be presented: an independent joint controller and a computed torque scheme with acceleration feedforward. To evaluate the closed loop performance of the device the backdrivability and the Cartesian position tracking performance will be analyzed and the before mentioned controllers will be compared.",
keywords = "Haptic interface, Performance evaluation, Redundancy, Resolution",
author = "Yuta Komoguchi and Angelika Peer and Martin Buss",
year = "2007",
doi = "10.1109/SICE.2007.4421443",
language = "English",
isbn = "4907764286",
series = "Proceedings of the SICE Annual Conference",
pages = "2671--2676",
booktitle = "SICE Annual Conference, SICE 2007",
note = "SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 ; Conference date: 17-09-2007 Through 20-09-2007",
}