Energy-based control of a haptic device using brakes

Changhyun Cho, Jae Bok Song, Munsang Kim

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)


This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the system in the specific direction. A force control scheme is proposed that computes the gain for smooth motion by considering the energy behavior of a system. Experiments show that smooth wall following is possible with a proposed force control scheme.

Original languageEnglish
Pages (from-to)341-349
Number of pages9
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number2
Publication statusPublished - 2007 Apr
Externally publishedYes


  • Brake
  • Force approximation
  • Indirect force control
  • Passive force manipulability ellipsoid (FME)
  • Passivity

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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