Inertia Reduction in Haptic Devices Using Force Feedback Method
نویسندگان
چکیده
-In haptic devices the problem of major concern is the inertia offered by the haptic device. When using it in unconstrained space, it should offer the least inertia. Depending on the interaction mechanism we are required to adapt different control algorithms to maintain transparency. This paper investigates force feedback method of inertia reduction and analyses its advantages over the feed forward method of inertia reduction in impedance interaction of haptic devices. Keywords--feedback system, feedforward systems, frequency response, haptic system, human operator, hybrid systems, impedance interaction, virtual environment
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