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Title: The effects of admittance term on back-drivability
Authors: Işıtman, Oğulcan
Ayit, Orhan
Dede, Mehmet İsmet Can
Keywords: Admittance control
Admittance term
Energy efficiency
Publisher: Springer
Source: Işıtman, O., Ayit, O., and Dede, M. İ. C. (2018). The effects of admittance term on back-drivability. In M.İ.C. Dede, M. İtik, E.-C. Lovasz, and G. Kiper (Eds.), Mechanisms, Transmissions and Applications, IFToMM 2017. Paper presented at the 4th Conference on Mechanisms, Transmissions and Applications, MeTrApp 2017, Trabzon, 3-5 July, 2017 (pp. 181-190). Cham: Springer. doi:10.1007/978-3-319-60702-3_19
Abstract: In the design of kinesthetic haptic devices, there are mainly impedance type and admittance type device. In a customary scenario, the human operator back-drives the haptic device by holding and providing motion to the handle of the haptic device. If the type of transmission system does not allow passive back-drivability, then the back-drivability is satisfied by the use of an admittance controller. This type of a haptic device is said to have admittance structure. The selection of the admittance term in this controller plays a critical part in the task execution performance. Determination of this term is not trivial and the optimal parameters depend on not only the key performance criteria but also on the human operator. An experimental study is carried out in this work to determine the effect of the admittance term parameters on the performance of human operators in terms of the energy efficiency and the best accuracy. In this paper, the experimental set-up and the results of the experiments are presented and discussed.
Description: 4th Conference on Mechanisms, Transmissions and Applications, MeTrApp 2017; Trabzon; Turkey; 3 July 2017 through 5 July 2011
ISBN: 978-331960701-6
ISSN: 2211-0984
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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