Issues in the haptic display of tool use
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Control system design for robots used in simulating dynamic force and moment interaction in virtual reality applications
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
Measuring and Increasing Z-Width with Active Electrical Damping
HAPTICS '08 Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Energy bounding algorithm based-on passivity theorem for stable haptic interaction control
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
On the role of dissipation in haptic systems
IEEE Transactions on Robotics
Sampled- and continuous-time passivity and stability of virtual environments
IEEE Transactions on Robotics
Sampled Data Systems Passivity and Discrete Port-Hamiltonian 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
Cost-effective haptic-based networked virtual environments with high-resolution tiled display
Multimedia Tools and Applications
Real stiffness augmentation for haptic augmented reality
Presence: Teleoperators and Virtual Environments
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Stability is a challenging issue when controlling haptic interaction systems because unstable behavior may injure human operators or deteriorate the realism of the provided cues. Based on the passivity condition for sampled-data haptic systems, we propose a novel energy-bounding algorithm to ensure robustly stable haptic interactions. The proposed algorithm limits the energy generated by a sample-and-hold operator within the energy consumable by the effective damping elements in the haptic system. The algorithm also ensures that the VE and controller are passive. This guarantees robustly stable haptic interactions, regardless of the sampling frequency and its variations, but compromises the displayable impedance range of the VE. Simulations and experiments using a commercial haptic device are used to demonstrate the effectiveness of the proposed algorithm.