%0 Journal Article
	%A Martin J.-D. Otis and  Thien-Ly Nguyen-Dang and  Thierry Laliberte and  Denis Ouellet and  Denis Laurendeau and  Clement Gosselin
	%D 2009
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 28, 2009
	%T Cable Tension Control and Analysis of Reel Transparency for 6-DOF Haptic Foot Platform on a Cable-Driven Locomotion Interface
	%U https://publications.waset.org/pdf/12580
	%V 28
	%X A Cable-Driven Locomotion Interface provides a low
inertia haptic interface and is used as a way of enabling the user
to walk and interact with virtual surfaces. These surfaces generate
Cartesian wrenches which must be optimized for each motorized
reel in order to reproduce a haptic sensation in both feet. However,
the use of wrench control requires a measure of the cable tensions
applied to the moving platform. The latter measure may be inaccurate
if it is based on sensors located near the reel. Moreover, friction
hysteresis from the reel moving parts needs to be compensated
for with an evaluation of low angular velocity of the motor shaft.
Also, the pose of the platform is not known precisely due to cable
sagging and mechanical deformation. This paper presents a non-ideal
motorized reel design with its corresponding control strategy that
aims at overcoming the aforementioned issues. A transfert function
of the reel based on frequency responses in function of cable tension
and cable length is presented with an optimal adaptative PIDF
controller. Finally, an hybrid position/tension control is discussed with
an analysis of the stability for achieving a complete functionnality of
the haptic platform.
	%P 442 - 454