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Article: Stimulation current control for load-aware electrotactile haptic rendering: Modeling and simulation

TitleStimulation current control for load-aware electrotactile haptic rendering: Modeling and simulation
Authors
KeywordsConstant voltage driver
Model reference adaptive control
Haptic rendering
Fingertip skin
Electrotactile
Electro-bioimpedance
Issue Date2014
Citation
Robotics and Autonomous Systems, 2014, v. 62, n. 1, p. 81-89 How to Cite?
AbstractThis paper presents our work on generalization of the first-order fingertip skin bioimpedance model that is presented to the instantaneous stimulation current. The generalized dynamic model is based on our experimental findings that one of the bioimpedance parameters, stratum corneum resistance Rp, is inversely related to the stimulation current. The model is necessitated by the driver of our constant voltage driver (CVD)-based electrotactile haptic rendering system, which features closed-loop, load-aware (i.e. fingertip skin bioimpedance-aware) capability in contrast to constant-current-driver (CCD) systems. Relying on this model and on-line estimated bioimpedance parameters and by employing a direct model reference adaptive control (MRAC) method, the stimulation current output to the fingertip skin tracking a desired pulsed reference current is realized. The modeling and control results based on the generalized model are shown to be preliminarily valid from simulation when compared to experimental results. This work will be useful in developing a user friendly load-aware electrotactile haptic rendering system that is capable of adapting the stimulation current from changing electro-bioimpedance conditions of the fingertip skin. © 2012 Elsevier B.V. All rights reserved.
Persistent Identifierhttp://hdl.handle.net/10722/213366
ISSN
2015 Impact Factor: 1.618
2015 SCImago Journal Rankings: 1.377

 

DC FieldValueLanguage
dc.contributor.authorShen, Yantao-
dc.contributor.authorGregory, John-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:07:02Z-
dc.date.available2015-07-28T04:07:02Z-
dc.date.issued2014-
dc.identifier.citationRobotics and Autonomous Systems, 2014, v. 62, n. 1, p. 81-89-
dc.identifier.issn0921-8890-
dc.identifier.urihttp://hdl.handle.net/10722/213366-
dc.description.abstractThis paper presents our work on generalization of the first-order fingertip skin bioimpedance model that is presented to the instantaneous stimulation current. The generalized dynamic model is based on our experimental findings that one of the bioimpedance parameters, stratum corneum resistance Rp, is inversely related to the stimulation current. The model is necessitated by the driver of our constant voltage driver (CVD)-based electrotactile haptic rendering system, which features closed-loop, load-aware (i.e. fingertip skin bioimpedance-aware) capability in contrast to constant-current-driver (CCD) systems. Relying on this model and on-line estimated bioimpedance parameters and by employing a direct model reference adaptive control (MRAC) method, the stimulation current output to the fingertip skin tracking a desired pulsed reference current is realized. The modeling and control results based on the generalized model are shown to be preliminarily valid from simulation when compared to experimental results. This work will be useful in developing a user friendly load-aware electrotactile haptic rendering system that is capable of adapting the stimulation current from changing electro-bioimpedance conditions of the fingertip skin. © 2012 Elsevier B.V. All rights reserved.-
dc.languageeng-
dc.relation.ispartofRobotics and Autonomous Systems-
dc.subjectConstant voltage driver-
dc.subjectModel reference adaptive control-
dc.subjectHaptic rendering-
dc.subjectFingertip skin-
dc.subjectElectrotactile-
dc.subjectElectro-bioimpedance-
dc.titleStimulation current control for load-aware electrotactile haptic rendering: Modeling and simulation-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1016/j.robot.2012.07.010-
dc.identifier.scopuseid_2-s2.0-84888298452-
dc.identifier.volume62-
dc.identifier.issue1-
dc.identifier.spage81-
dc.identifier.epage89-

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