Cho, Changhyun Song, Jae-Bok Kim, Munsang 2024-01-21T01:05:21Z 2024-01-21T01:05:21Z 2021-09-02 2007-04 1083-4419 https://pubs.kist.re.kr/handle/201004/134495 This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the system in the specific direction. A force control scheme is proposed that computes the gain for smooth motion by considering the energy behavior of a system. Experiments show that smooth wall following is possible with a proposed force control scheme. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC Energy-based control of a haptic device using brakes Article 10.1109/TSMCB.2006.883431 1 IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, v.37, no.2, pp.341 - 349 IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 37 2 341 349 scie scopus 000245109300009 2-s2.0-34047185793 Automation & Control Systems Computer Science, Artificial Intelligence Computer Science, Cybernetics Automation & Control Systems Computer Science Article brake force approximation indirect force control passive force manipulability ellipsoid (FME) passivity