A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom. [S0022-0434(00)01104-7]

Issue Section:
Technical Papers
Keywords:
friction, compensation, force feedback, haptic interfaces, telerobotics, manipulators, virtual reality, variable structure systems, observers, Friction Compensation, Disturbance Observers and Sliding Mode Observer
Topics:
Friction, Sensors, Force feedback, Motors, Haptics
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