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Computational Models of Friction

Friction occurs almost everywhere and many things, including human acts, depend on it. The model we are developing can be used to synthesize it, so it can be presented under computer control to a subject using a haptic device. The model is also a possible contribution to the existing model-based compensation techniques. It has the following properties: It is time free (autonomous), only displacements enter in the formulation; it does not drift; it is robust to noise, input is not assumed to be noise-free; a discrete formulation exists which is online and computationally efficient; it accounts for vector motions and forces (2 or 3D); and its parameters have a simple physical interpretation.

V. Hayward, B. R. Armstrong, P. Dupont

Annual Report

Mon Jun 26 21:22:20 GMT 2000