Haptic feedback augmentation through position based adaptive force scaling: theory and experiment

摘要

This paper addresses the development, implementation, and evaluation of a novel application of robot force control called position based force scaling. We report the first results in the implementation of asymptotically exact force scaling, as well as the first results in on-line environment compliance adaptation while performing the task of force scaling. One previously reported and two new (one adaptive and one non-adaptive) force scaling algorithms are reviewed. Extensive comparative experiments quantify the performance of all three algorithms and show that the new adaptive force scaling algorithm significantly outperforms both its non-adaptive counterpart as well as the previously reported set-point-regulator based force scaling algorithm over a wide range of user applied input force trajectories and force scale factors.