Stable Haptic Interaction with Switched Virtual Environments
نویسنده
چکیده
This paper investigates haptic interaction with virtual environments composed of objects with diverse dynamic properties. Passivity is often used for stability analysis of haptic systems. We demonstrate that when the dynamics of the virtual environment during the interaction changes, the approaches using traditional notion of passivity fail. We then show that a recently proposed notion of passivity for hybrid systems can be used to design stable interaction strategies for such systems.
منابع مشابه
Stable haptic interaction with virtual environments
A haptic interface is a kinesthetic link between a human operator and a virtual environment. This paper addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual world, to include both the impedance and admittance models of haptic int...
متن کاملM-Width: Stability and Accuracy of Haptic Rendering of Virtual Mass
In many physical human-robot interaction scenarios, such as haptic virtual environments for training and rehabilitation, it is desirable to carefully control the apparent inertia of a robot. Inertia compensation can be used to mitigate forces felt by the user during free-space motion, and rendering of additional inertia is desired for particular rehabilitation and training procedures. Many fact...
متن کاملStable Haptic Interaction with Virtual Environments using Voxel-Pointshell
Despite a lot of research in recent years stable and realistic haptic interaction with virtual environments keeps an unsolved problem. Among different approaches the Voxmap-PointShell (VPS) method seems very promising due to constant sample rates, independent of the static environment. But there is still the stability problem to be solved globally. In this paper some adaptations based on the VP...
متن کاملStable Haptic Interaction with Virtual Environments Using an Adapted Voxmap-PointShell Algorithm
Despite a lot of research in recent years stable and realistic haptic interaction with virtual environments keeps an unsolved problem. Among different approaches the Voxmap-PointShell (VPS) method seems very promising due to constant sample rates, independent of the static environment. But there is still the stability problem to be solved globally. In this paper some adaptations based on the VP...
متن کاملGuaranteed stability of haptic systems with nonlinear virtual environments
Design of haptic systems that guarantee stable interaction is a challenging task. Virtual environments are typically highly nonlinear—resulting in a nonpassive discrete-time model. This paper will investigate how nonlinear mass/spring/damper virtual environments can be designed to guarantee the absence of oscillations and other chaotic behavior in the signal presented to the human operator. In ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2003