welcome

Updated on July 2009

Libralis: end-effector gravity compensation in two steps:

1. run automatic gravity estimation for your device and save data

2. use the acquired data to actively compensate gravity in your C++ application

Libralis is a software package which implements the Autocalibrated Gravity Compensation for 3DoF impedance haptic devices. It provides C++ developers with a user-friendly tool to actively compensate the apparent gravity force acting on the haptic end-effector. Libralis has been designed to meet a wide range of requirements arising in all the research fields in which haptics is employed. In particular, it has the following main features:
  • it is independent from the kinematics and from the dynamics of the haptic device
  • it works for any arbitrary orientation that has been chosen for the device
  • it accounts for any customization of the device mechanical structure
  • it can be automatically calibrated off-line with no manual intervention by the user

The gravity compensation controller is automatically tuned through an off-line recursive estimation procedure, which measures the actual effects of gravity force in the specific custom setup chosen by the user. To that purpose, Libralis comes with two different utilities:

Libralis Tuner. An executable application for the automatic gravity learning.

Libralis Library. C++ Library which allows developers to include the gravity compensation controller into their interactive applications.

Currently, Libralis requires Haptik Library. We are working to release a SDK that can be integrated with any API chosen to access the haptic device of interest.

hot news

  • 29/07/2009: Libralis 0.2 has been released. The SDK has been converted into a static library. Now the Setup.exe is available to install all required applications. A C++ exectuable example has been included into the package. The newest package is now available for download.
  • 10/07/2009: Bugs fixed in Libralis SDK 0.1. The newest package is now available for download.
  • 15/05/2009: Libralis 0.1beta is now available for download.
  • 05/05/2009: alpha testing is over. Libralis will be available for download by may 15.

reference

If you exploit Libralis for your scientific research, please cite the articles:

[1] A. Formaglio, S. Mulatto, and D. Prattichizzo. Iterative estimation of the end-effector apparent gravity force for 3DoF impedance haptic devices. In Proc. EUCA European Conference on Control 2009, Budapest, Hungary, August 2008. 

@Article{FMP-ECCC09,
  title={Iterative estimation of the end-effector apparent gravity force for 3DoF impedance haptic devices},
  author={A. Formaglio, S. Mulatto, and D. Prattichizzo},
  journal={In Proc. EUCA European Conference on Control 2009},
  volume={In Press.}
}

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[2] A. Formaglio, M. Fei, S. Mulatto, M. de Pascale, and D. Prattichizzo. Autocalibrated gravity compensation for 3 DoF impedance haptic devices. Eurohaptics 2008. Lecture Notes in Computer Science. Volume LNCS 5024, pages 43--52. Springer Verlag, Madrid, Spain, June 2008. 

@Article{FMP-EHC08,
  title={Autocalibrated Gravity Compensation for 3DoF Impedance Haptic Devices},
  author={A. Formaglio, M. Fei, S. Mulatto, M. Pascale, and D. Prattichizzo},
  journal={Eurohaptics 2008. Lecture Notes in Computer Science},
  volume={LNCS 5024},
  pages={43-52},
  year={2008},
  publisher={Springer Verlag}
}