Wave Haptics: Building Stiff Controllers from the Natural Motor Dynamics
International Journal of Robotics Research
HCI Beyond the GUI: Design for Haptic, Speech, Olfactory, and Other Nontraditional Interfaces
HCI Beyond the GUI: Design for Haptic, Speech, Olfactory, and Other Nontraditional Interfaces
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
Stable Multirate Control Algorithm for Haptic Dental Training System
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II
Robustly Stable Haptic Interaction Control using an Energy-bounding Algorithm
International Journal of Robotics Research
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This work examines electrical damping as a means for improving haptic display performance. Specifically, electrical damping, like its mechanical counterpart, can significantly reduce the occurrences of limit cycle oscillations at high impedance boundaries in virtual environments. Furthermore, electrical damping has a number of advantages including its simplicity of design and the ease at which it can be made frequency dependent so that it does not adversely affect a deviceýs low impedance range. This work examines the theoretical behavior and practical application of frequency dependent electrical damping as it applies to haptic displays. Data is presented illustrating a significant increase in the range of virtual wall behaviors that a one degree-of-freedom device is capable of displaying when electrical damping is added.