This paper presents a design of a one-degree-of-freedom haptic interface system with an aim to investigate control of the system. The system comprised master devices, a system interacting with a user, and slave devices, a system interacting with environments. Both sets of devices were coupled with a gripper, which was designed in a shape of a cantilever beam, to measure force, and a DC motor was employed to drive precision ball screws, which were attached to the gripper, so as to create linear motion. In addition, an encoder was installed so as to investigate motion of the gripper, and the analysis results were employed for a design of a controller, based on the P, PI, PD, and PID type. The aim of this is to provide an operator with tactile sensing through control of the master devices while the slave devices were in contact with an object. The simulation results showed that the stiffness of an object affects stability of the system with a designed controller, causing, limitation of operation, that is, the system was stable when stiffness of the object was less than 43.3 kN/m, and the operator obtained a good response of positions and resistance while contacting with an object as though the operator has direct interaction with such an object.
Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System
