14th IFAC Symposium on System Identification, SYSID 2006

SYSID-2006 Paper Abstract


Paper WeA4.2

Khatounian, Flavia (Haption), Janot, Alexandre (CEA), Moreau, Sandrine (Univ. de Poitiers - Ec. Supérieure d'IngénieursdePoitiers), Bidard, Catherine (CEA), Monmasson, Eric (Univ. de Cergy), Gautier, Maxime (IRCCyN)

Parameter Identification of a Single Degree of Freedom Haptic Interface

Scheduled for presentation during the Regular Session "Identification for Control" (WeA4), Wednesday, March 29, 2006, 10:50−11:10, Cummings Room

14th IFAC Symposium on System Identification, March 29 - 31, 2006, Newcastle, Australia

This information is tentative and subject to change. Compiled on July 17, 2018

Keywords Identification for Control, Model Validation, Other


A haptic system consists in an articulated mechanical structure with motors and position sensors, as well as embedded electronics allowing force feedback. It is driven by a haptic interface, which enables the user to interact with an image in a virtual reality application, through the sense of touch. This paper presents a protocol allowing the identification of both electrical and mechanical parameters using inverse models and least-squares techniques, in order to achieve a robust control strategy of the overall system in terms of transparency and stiffness.