Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td align="left">Variables/parameters</td><td align="center"> Unit</td><td align="left"> Meanings</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td align="left"><span style="width: 20.4125px;"><svg height="12.925" id="M15" style="vertical-align:-4.74141pt" version="1.1" viewbox="0 0 20.4125 12.925" width="20.4125" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,12.925)">
<g transform="translate(72,-61.66)">
<text transform="matrix(1,0,0,-1,-71.95,66.44)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑥</tspan>
</text>
<text transform="matrix(1,0,0,-1,-65.07,63.31)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑝</tspan>
<tspan style="font-size: 8.75px; " x="4.2797279" y="0">∗</tspan>
</text>
</g>
</g>
</svg></span></td><td align="center">[m]</td><td align="left"> Position of a grip</td></tr><tr><td align="left"><span style="width: 21.450001px;"><svg height="14.5875" id="M16" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 21.450001 14.5875" width="21.450001" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,14.5875)">
<g transform="translate(72,-60.33)">
<text transform="matrix(1,0,0,-1,-71.95,63.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑓</tspan>
</text>
<text transform="matrix(1,0,0,-1,-65.01,60.47)">
<tspan style="font-size: 8.75px; " x="0" y="0">ℎ</tspan>
<tspan style="font-size: 8.75px; " x="5.0499039" y="0">∗</tspan>
</text>
</g>
</g>
</svg></span></td><td align="center">[N]</td><td align="left"> Force from an operator</td></tr><tr><td align="left"><span style="width: 20.637501px;"><svg height="14.5875" id="M17" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 20.637501 14.5875" width="20.637501" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,14.5875)">
<g transform="translate(72,-60.33)">
<text transform="matrix(1,0,0,-1,-71.95,63.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑓</tspan>
</text>
<text transform="matrix(1,0,0,-1,-65.01,60.47)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑎</tspan>
<tspan style="font-size: 8.75px; " x="4.3935041" y="0">∗</tspan>
</text>
</g>
</g>
</svg></span></td><td align="center">[N]</td><td align="left"> Force from an actuator</td></tr><tr><td align="left"><span style="width: 22.9125px;"><svg height="12.925" id="M18" style="vertical-align:-4.74141pt" version="1.1" viewbox="0 0 22.9125 12.925" width="22.9125" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,12.925)">
<g transform="translate(72,-61.66)">
<text transform="matrix(1,0,0,-1,-71.95,66.44)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑚</tspan>
</text>
<text transform="matrix(1,0,0,-1,-63.07,63.31)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑝</tspan>
<tspan style="font-size: 8.75px; " x="4.2797279" y="0">∗</tspan>
</text>
</g>
</g>
</svg></span></td><td align="center">[kg]</td><td align="left"> Mass of a stage</td></tr><tr><td align="left"><span style="width: 20.137501px;"><svg height="16.475" id="M19" style="vertical-align:-4.74141pt" version="1.1" viewbox="0 0 20.137501 16.475" width="20.137501" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,16.475)">
<g transform="translate(72,-58.82)">
<text transform="matrix(1,0,0,-1,-71.95,63.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑑</tspan>
</text>
<text transform="matrix(1,0,0,-1,-65.3,60.47)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑝</tspan>
<tspan style="font-size: 8.75px; " x="4.2797279" y="0">∗</tspan>
</text>
</g>
</g>
</svg></span></td><td align="center">[Ns/m]</td><td align="left"> Viscosity of a stage</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr><tr class="table-fn"><td>*: <svg height="7.1624999" id="M20" style="vertical-align:-0.11285pt" version="1.1" viewbox="0 0 8.7250004 7.1624999" width="8.7250004" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,7.1625)">
<g transform="translate(72,-66.27)">
<text transform="matrix(1,0,0,-1,-71.95,66.44)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑥</tspan>
</text>
</g>
</g>
</svg> or <svg height="9.8625002" id="M21" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 7.875 9.8625002" width="7.875" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,9.8625)">
<g transform="translate(72,-64.11)">
<text transform="matrix(1,0,0,-1,-71.95,66.45)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑦</tspan>
</text>
</g>
</g>
</svg> for <svg height="7.1624999" id="M22" style="vertical-align:-0.11285pt" version="1.1" viewbox="0 0 8.7250004 7.1624999" width="8.7250004" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,7.1625)">
<g transform="translate(72,-66.27)">
<text transform="matrix(1,0,0,-1,-71.95,66.44)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑥</tspan>
</text>
</g>
</g>
</svg>- and <svg height="9.8625002" id="M23" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 7.875 9.8625002" width="7.875" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,9.8625)">
<g transform="translate(72,-64.11)">
<text transform="matrix(1,0,0,-1,-71.95,66.45)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑦</tspan>
</text>
</g>
</g>
</svg>-axis.<br/></td></tr></table>

Parameters and variables of haptic interface device.

Journal of Control Science and Engineering

tab1

Table 1

Table 1: Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System 