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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Strolz, M. Mortl, A. Graf, M. Buss, M. |
| Copyright Year | 2008 |
| Abstract | Actuated car doors are a promising way to increase the convenience of access to cars. We propose an advanced actuation and control concept which can easily be integrated into conventional car doors. By utilizing a linear, nonbackdrivable actuator and various sensors, both automatic and manual door operations are enabled. A discrete state controller ensures a safe operation of the door, including automatic opening and closing. The realization of a supportive, high-quality haptic interaction with the car door for the manual operation is the principal part of our work. Due to the impracticality of a direct measurement of the user interaction force at a car door, we chose impedance control to render the desired dynamics. The impedance was designed to provide a convenient, intuitive, and safe manual handling of the door. We implemented and tested four different impedance control schemes, of which impedance control with actuator force feedback performed best. Two experimental evaluations with 16 and 27 participants revealed a predominant approval of the actuated car door. |
| Sponsorship | IEEE Computer Society |
| Starting Page | 170 |
| Ending Page | 180 |
| Page Count | 11 |
| File Size | 1515678 |
| File Format | |
| ISSN | 19391412 |
| Volume Number | 2 |
| Issue Number | 3 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-07-01 |
| Publisher Place | U.S.A. |
| Access Restriction | One Nation One Subscription (ONOS) |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Automatic control Force control Manuals Force measurement Hydraulic actuators Haptic interfaces Impedance measurement Testing Force feedback Performance evaluation car doors. Haptic interaction impedance control active impedance assistance functions manual control |
| Content Type | Text |
| Resource Type | Article |
| Subject | Human-Computer Interaction Computer Science Applications |
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