Transparency improvement in haptic devices with a torque compensator using motor current

Authors:
Ozgur Baser;E. Ilhan Konukseven;Hakan Gurocak
Affiliations:
School of Engineering and Computer Science, Washington State University, Vancouver;Mechanical Engineering Department, Middle East Technical University, Ankara, Turkey;School of Engineering and Computer Science, Washington State University, Vancouver
Venue:
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
Year:
2012

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Abstract

Transparency of a haptic interface can be improved by minimizing the effects of inertia and friction through the use of model based compensators. However, the performance with these algorithms is limited due to the estimation errors in the system model and in the velocity and acceleration from quantized encoder data. This paper contributes a new torque compensator based on motor current to improve transparency. The proposed method was tested experimentally in time and frequency domains by means of an excitation motor attached at the user side of the device. The excitation motor enabled evaluation of the algorithms with smooth trajectories and high frequencies, which cannot be generated by user hand. Experimental results showed that the algorithm significantly improves transparency and doubles the transparency bandwidth.