Feeling and seeing: issues in force display
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Increasing the Impedance Range of a Haptic Display by Adding Electrical Damping
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
On the role of dissipation in haptic systems
IEEE Transactions on Robotics
Effects of position quantization and sampling rate on virtual-wall passivity
IEEE Transactions on Robotics
Stability of Haptic Rendering: Discretization, Quantization, Time Delay, and Coulomb Effects
IEEE Transactions on Robotics
Enhancing the Z-width of Haptics Interfaces through Dual-rate Sampling
Proceedings of Conference on Advances In Robotics
Hi-index | 0.00 |
Physically dissipative damping can increase the range of passive stiffness that can be rendered by a haptic device. Unlike simulated damping it does not introduce noise into the haptic control system. A DC motor can generate such damping if it's terminals are shorted. We employ a configuration of the H-bridge which can cause this damping to impart stability to our haptic device. This results in an increase in passive wall stiffness of about 33.3% at a sampling rate of 100Hz and 16.6% at 1kHz over the performance of an undamped DC motor. We have also attempted to implement the system on the hybrid haptic control system [1], it was seen that a perceivable change in the performance of this system was not observed by the use of DC motor damping.