Tension Calculation Method for Tension Driven Force Display
Shoichi Hasegawa, Masaharu Inoue, Seahak Kim, Makoto Sato · Journal of the Robotics Society of Japan · 2004
In this paper, we propose a novel tension calculation algorithm for tension-based force displays. The algorithm uses quadratic programming method to find optimal tension force and achieves stable force displays. We made some experiments to evaluate proposing method with a tension-based force display, SPIDAR. Results show that proposed method eliminates vibration and enlarges operating area.