Full Content is available to subscribers

Subscribe/Learn More  >

Analysis of the Effect of Coulomb Friction on Haptic Systems Dynamics

[+] Author Affiliations
Csaba Budai

Budapest University of Technology and Economics, Budapest, Hungary

László L. Kovács, József Kövecses

McGill University, Montréal, QC, Canada

Paper No. DETC2016-59961, pp. V006T09A015; 8 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 12th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5018-3
  • Copyright © 2016 by ASME


Dissipation mechanisms and dissipative forces play a pivotal role in the operations and performance of human-machine interfaces and particularly in haptic systems. Dissipation is a very difficult phenomenon to model. Coulomb friction in general can be the most influential element in systems involving multiple direct contact connections such as joints with transmissions or mechanically guided components. Coulomb friction includes non-smooth discontinuity and can induce complex dynamic behaviours. Very little attention has been paid to the analysis of the effects of Coulomb friction in haptic devices. In this paper we illustrate, by experiment, analysis and simulation, the nature of the dynamic behaviour caused by Coulomb friction in haptic sampled-data systems. We demonstrate that a simple model can represent this behaviour, and show the effects of the haptic system parameters on this dynamics.

Copyright © 2016 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In