Feeling and seeing: issues in force display
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Virtual reality technology
Human Kinematic Factor for Haptic Manipulation: The Wrist to Thumb
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
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A novel admittance haptic device which has low inertia and high speed to guarantee the high force bandwidth for the haptic interaction system is presented. Friction wheel is used to implement a rapid adjustment of the velocity loop. According to the admittance character of the haptic interface, PI velocity feedback control is utilized in the haptic interaction system. By introducing the virtual coupling into the system, Llewellyn's stability criteria in circuit theory is used to derive the constraint conditions to guarantee the system's absolute stability. Furthermore the parameters of the virtual coupling are optimized oriented to high transparency of the system. Man-machine haptic interaction system is established with the novel admittance interface. The experimental results indicate that optimized virtual coupling guarantees the large range stability, as well as improving the transparency effectively.