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JRM Vol.34 No.1 pp. 140-148
doi: 10.20965/jrm.2022.p0140
(2022)

Paper:

Development of Haptic Pointing Devices Under the Variable Admittance Control Theory

Toru Tsumugiwa, Gen Asai, Atsushi Kamiyoshi, and Ryuichi Yokogawa

Department of Biomedical Engineering, Faculty of Life and Medical Sciences, Doshisha University
1-3 Tatara Miyakodani, Kyotanabe, Kyoto 610-0394, Japan

Received:
February 25, 2021
Accepted:
November 15, 2021
Published:
February 20, 2022
Keywords:
human-robot interaction, variable admittance control, haptic device
Abstract
Development of Haptic Pointing Devices Under the Variable Admittance Control Theory

Overview of variable admittance control mechanism

The pointing operation using a mouse is widely implemented as a method for an operator to intuitively operate a pointer on a display. However, the dynamic characteristics of the pointing operation and pointer movement, such as inertia and viscosity, cannot be adjusted using ordinary pointing devices. As an alternative to a mouse pointing system, in this study, we propose a novel haptic pointing system in which the dynamic characteristics of the pointing operation and pointer movement can be adjusted using a robot manipulator under mechanical variable admittance control. The dynamic characteristics of the robot motion and pointer movement are varied sequentially during the pointing operation by varying the inertial and viscosity parameters of the proposed admittance control strategy using a mechanical device attached to the robot manipulator. The experiment was conducted to reveal the effectiveness of adjusting the pointer movement dynamics by modifying the pointer movement control loop and the ratio of the operating force with respect to the amount of pointer movement. The experimental results demonstrated that the performance of the pointing operation was improved by appropriately adjusting the pointer movement dynamics.

Cite this article as:
T. Tsumugiwa, G. Asai, A. Kamiyoshi, and R. Yokogawa, “Development of Haptic Pointing Devices Under the Variable Admittance Control Theory,” J. Robot. Mechatron., Vol.34, No.1, pp. 140-148, 2022.
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