Discrete-time control systems (2nd ed.)
Discrete-time control systems (2nd ed.)
Random Data: Analysis and Measurement Procedures
Random Data: Analysis and Measurement Procedures
Feedback Systems: Input-Output Properties
Feedback Systems: Input-Output Properties
Passive haptic interface with mr-brakes for dental implant surgery
Presence: Teleoperators and Virtual Environments
Enhancing the Z-width of Haptics Interfaces through Dual-rate Sampling
Proceedings of Conference on Advances In Robotics
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This paper addresses both theoretical and experimental studies of the stability and performance of haptic interfaces containing active/passive actuators. Three different realizations of haptic interfaces are introduced to investigate their stability and performance: an active system equipped with a motor; a passive system equipped with a brake; and a hybrid system equipped with both brake and motor. The first objective is to demonstrate that a hybrid system is superior in its stability and performance to an active system via passivity theorem and Z-width. The second objective of this paper is to show that the conditions for the asymptotic stability of haptic interfaces during the static friction display are investigated via the absolute stability theory. Theoretical and experimental results are compared. An alternative haptic interface is proposed that provides its highly stable haptic interaction with high performance.