High fidelity closed loop controlled friction in SMARTTAC tactile stimulator

Wael Ben Messaoud 1, 2 Michel Amberg 1 Betty Lemaire-Semail 1 Frédéric Giraud 1 Marie-Ange Bueno 2
1 L2EP - Laboratoire d’Électrotechnique et d’Électronique de Puissance - EA 2697
2 Laboratoire de Physique et Mécanique Textiles LPMT
LPMT - Laboratoire de Physique et Mécanique Textiles
Abstract : The present study investigates the implementation of a closed loop control in a new smart tactile stimulator called “SMARTTAC”. This haptic device is able to stimulate the fingertip in order to simulate the texture perception of different real surfaces such as gratings. Two closed loop control are implemented to ensure both a stable vibration amplitude despite of external disturbances and accurate control of the friction coefficient using the new design of the tactile stimulator. Experimental measurements give satisfactory results both on dynamics and robustness points of view.
Keywords : «Tactile feedback» «Force Control» «Closed-Loop Control» «Sliding mode control» «Piezo actuators»
Type de document :
Communication dans un congrès
2015 17th European Conference on Power Electronics and Applications (EPE'15 ECCE-Europe), Sep 2015, Geneva, Switzerland. 2015 17th European Conference on Power Electronics and Applications (EPE'15 ECCE-Europe), 2015, 〈10.1109/EPE.2015.7309191〉
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Wael Ben Messaoud, Michel Amberg, Betty Lemaire-Semail, Frédéric Giraud, Marie-Ange Bueno. High fidelity closed loop controlled friction in SMARTTAC tactile stimulator. 2015 17th European Conference on Power Electronics and Applications (EPE'15 ECCE-Europe), Sep 2015, Geneva, Switzerland. 2015 17th European Conference on Power Electronics and Applications (EPE'15 ECCE-Europe), 2015, 〈10.1109/EPE.2015.7309191〉. 〈hal-01252057〉

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