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This paper focuses on the reproduction system for the environmental haptic sensations. The conventional reproduction system is based on force control. However, the resolution of the force command value is determined by the resolution of the encoder and the D/A board. The resolution of the force command value becomes insufficient in a high-stiffness environment. Because the displacement of the actuator...
This paper focuses on storage and reproduction systems for environmental haptic sensations. A large force vibration is caused by the differential of viscosity momentum in the reproduction system based on force control. To solve this problem, the reproduction system based on momentum control has been proposed in previous our research. The improved reproduction system has a configuration that the momentum...
The approach used to implement mechanical impedance can be generally separated into the following two types: an impedance control system and an admittance control system. When an impedance control system reproduces a hard environment, large vibrations are generated. In contrast, an admittance control system is excellent at reproducing a high-stiffness environment for utilizing the inverse of the environmental...
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