Wave Haptics: Building Stiff Controllers from the Natural Motor Dynamics
International Journal of Robotics Research
Performance and user based analysis of a collaborative virtual environment system
Proceedings of the 5th international conference on Computer graphics and interactive techniques in Australia and Southeast Asia
Technical Section: Stable haptic rendering with detailed energy-compensating control
Computers and Graphics
DC Motor Damping: A Strategy to Increase Passive Stiffness of Haptic Devices
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Extending the Z-Width of a Haptic Device Using Acceleration Feedback
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Haptic Rendering of Actuated Mechanisms by Active Admittance Control
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Haptic Effects of Surgical Teleoperator Flexibility
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
Gain-scheduling control of a teleoperation system
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Improved multi-DOF haptics with spring drive amplifiers
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Haptic display of realistic tool contact via dynamically compensated control of a dedicated actuator
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Stability of haptic obstacle avoidance and force interaction
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Haptic feedback for molecular simulation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Influence of vibration modes and human operator on the stability of haptic rendering
IEEE Transactions on Robotics
Robustly Stable Haptic Interaction Control using an Energy-bounding Algorithm
International Journal of Robotics Research
Modeling and experimental studies of a novel 6-DOF haptic device
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
Human perception of haptic-to-video and haptic-to-audio skew in multimedia applications
ACM Transactions on Multimedia Computing, Communications, and Applications (TOMCCAP)
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Rendering stiff virtual objects remains a core challenge in the field of haptics. A study of this problem is presented, which relates the maximum achievable object stiffness to the elements of the control loop. In particular, we examine how the sampling rate, quantization, computational delay, and amplifier dynamics interact with the inertia, natural viscous, and Coulomb damping of the haptic device. Nonlinear effects create distinct stability regions, and many common devices operate stably, yet in violation of passivity criteria. An energy-based approach provides theoretical insights, supported by simulations, experimental data, and a describing function analysis. The presented results subsume previously known stability conditions