Wave Haptics: Building Stiff Controllers from the Natural Motor Dynamics
International Journal of Robotics Research
Presence: Teleoperators and Virtual Environments
Sensing, Acquisition, and Interactive Playback of Data-based Models for Elastic Deformable Objects
International Journal of Robotics Research
Motion control of impedance-type haptic devices
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Improved multi-DOF haptics with spring drive amplifiers
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Interactive haptic rendering of high-resolution deformable objects
ICVR'07 Proceedings of the 2nd international conference on Virtual reality
International Journal of Robotics Research
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Haptic manipulation of deformable objects in hybrid bilateral teleoperation system
Applied Bionics and Biomechanics
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Passivity theory is applied to the creation of synthetic, complex multidimensional haptic environments. It can be shown that under appropriate conditions, sufficiently high rendering rates can guarantee the passivity of a simulation produced by a haptic device coupled to a discrete-time realization of a nominally passive environment. The creation of a passive, globally defined, virtual environment is either analytically complex or computationally costly. A method is described whereby a passive environment is created from transitions between locally defined force models that encode static conservative force fields. This is applied to the haptic rendering of tool contact with deformable bodies, in which sparse force-deflection responses are used to define local models. Passivity, continuity, and fidelity are provided by response-function interpolation rather than by interpolation of forces, as in previous methods. The work also includes an illustrative example.