@article {Kim:January 2007:0169-1864:87,
	author = "Kim, Keehoon",
	author = "Chung, Wan Kyun",
	author = "Nam, Sang Yep",
	title = "Accurate force reflection method for a multi-d.o.f. haptic interface using instantaneous restriction space without a force sensor in an unstructured environment",
	journal = "Advanced Robotics",
	volume = "21",
	year = "January 2007",
	abstract = "This paper proposes an accurate force reflection method for a multi-d.o.f. haptic interface without a force sensor. Sensorless force reflection is possible using position-position (p-p) architecture. However, the conventional p-p architecture in the literature has limitations representing constraint space when it is applied to a multi-d.o.f. haptic interface in that it gives an inaccurate force direction. This paper demonstrates the limitation of the conventional p-p architecture through an example and proposes a novel force reflection method using the instantaneous restriction space (IRS) concept. The IRS can be calculated using the Jacobian and joint angle error of a slave manipulator. Since the proposed method has the form of an impedance two-port architecture in the sense of data flow, it can be easily combined with previous well-known results of two-port haptic display frameworks. The proposed method is especially useful when the slave manipulator collides with unexpected obstacles during motion, even though the slave does not have a force sensor. The performance of the proposed method is evaluated through experiments.",
	pages = "87-104(18)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2007/00000021/F0020001/art00005"
	doi = "doi:10.1163/156855307779293670"
}