@inproceedings{fb81d1a82ffe4670a8ee2adb3d900eb2,
title = "Effect of hand dynamics on virtual fixtures for compliant human-machine interfaces",
abstract = "In human-machine interfaces with joint/link compliance, human hand dynamics can have a detrimental effect on system performance. This paper investigates the effect of human dynamics on the effectiveness of a virtual fixture implemented on an admittance-controlled robot with joint compliance. Two open-loop control methods are proposed for creating a virtual fixture that prevents the user from entering a forbidden region: one that compensates for hand dynamics, and one that predicts overshoot based on the user's current velocity. The methods determine a {"}safe{"} location of the virtual fixture that prevents the user from entering the true forbidden region. A first experiment was conducted to determine hand dynamic parameters (mass, damping, and stiffness) and evaluate their relationship to the force applied by the user on the interface. A second experiment demonstrated that both methods for creating safe virtual fixtures prevent the user from entering the forbidden region, even when the interface has significant joint compliance.",
keywords = "Admittance control, Compliant human-machine interfaces, Hand dynamics, Virtual fixtures",
author = "Panadda Marayong and Hager, {Gregory D.} and Okamura, {Allison M.}",
year = "2006",
doi = "10.1109/VR.2006.56",
language = "English (US)",
isbn = "1424402247",
series = "Proceedings - IEEE Virtual Reality",
pages = "86",
booktitle = "IEEE Virtual Reality, Haptics Symposium and Symposium on 3D User Interface, 2006",
note = "IEEE Virtual Reality 2006 ; Conference date: 25-03-2006 Through 29-03-2006",
}