Friction modeling and compensation for haptic interfaces

  • Bernstein N
  • Lawrence D
  • Pao L
  • 27

    Readers

    Mendeley users who have this article in their library.
  • 36

    Citations

    Citations of this article.

Abstract

Friction cancellation and high gain force feedback are studied for their relative benefits in mitigating the effects of friction in haptic interfaces. Although either technique alone is capable of significant improvements, we find that a combination of approximate cancellation coupled with variable-gain low-bandwidth force feedback provides excellent friction reduction and is more robust. This improves the feel of the haptic interface, and provides significant linearization of the interface dynamics for more accurate model-based control.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Authors

  • Nicholas L. Bernstein

  • Dale A. Lawrence

  • Lucy Y. Pao

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free