Desktop Layout

Oral Session 2A: Control of Haptic Devices
Technical Papers
Colonial Ballroom, Chairs: Nick Colonnese and Jeremy Brown
Talks will begin every 15 min.
Dynamic Model of Cable-Conduit Actuation for Interaction with Non-passive Environments
Andrew Borowski, Alexander Metz, and Fabrizio Sergi
(University of Delaware, USA)
Publisher's Version
Picture (Local)
Abstract: In this paper, we present a new computational model for cable-conduit systems that describes interaction with non-passive environments. Unlike previous models, our model features bi-directional propagation of motion within the cable-conduit system. This allows for simulation of human-interacting systems where both the human and the robot have the capability to impose motion or force. Because of this feature, the developed model is applicable to a wide range of physical systems. The model is validated in a physical prototype through experiments involving physical interaction with a human subject. We show that our model accurately predicts behaviors observed in the experimental system.


Time stamp: 2019-03-25T12:37:01+01:00