《Cable-Driven Locomotion Interface》.pdfVIP

International Journal of Electrical, Computer, and Systems Engineering 3:1 2009 Cable Tension Control and Analysis of Reel Transparency for 6-DOF Haptic Foot Platform on a Cable-Driven Locomotion Interface Martin J.-D. Otis, Thien-Ly Nguyen-Dang, Thierry Laliberte, Denis Ouellet, Denis Laurendeau and Clement Gosselin Abstract—A Cable-Driven Locomotion Interface provides a low For such an application, the reel must be transparent to the inertia haptic interface and is used as a way of enabling the user user. Indeed, reel inertia, friction, non-linear strain gauge re- to walk and interact with virtual surfaces. These surfaces generate sponse, acquisition system precision and real cable behaviour Cartesian wrenches which must be optimized for each motorized reel in order to reproduce a haptic sensation in both feet. However, such as elasticity and sagging can reduce the capability of the use of wrench control requires a measure of the cable tensions the mechanism to reproduce the wrench involved in Haptic applied to the moving platform. The latter measure may be inaccurate Display Rendering (HDR) with high fidelity [2]. Reel trans- if it is based on sensors located near the reel. Moreover, friction parency is defined as the ability to which a force at the cable hysteresis from the reel moving parts needs to be compensated end can be guaranted for any cable and reel dynamics and for with an evaluation of low angular velocity of the motor shaft. Also, the pose of the platform is not known precisely due to cable therefore allow a large Z-width (impedance range) [3]. In sagging and mechan