This paper proposes an impedance control method that can regulate a virtual impedance between a robot manipulator and external objects using visual information. The conventional impedance control method is not useful in some cases where no interaction force between the arm and its environment exists, although it is one of the most effective control methods for manipulators in contact with the e...

In this paper, we propose a mechanical impedance for the whole arm of a serial-chain manipulator. The proposed impedance has a geometrically natural property owing to use of a spatial curve which describes a virtual reference of the impedance. The proposed impedance is useful for geometric task planning in whole-arm manipulation. Illustrative examples are shown for understanding of the impedance.

Recent implementations of virtual sound using head related transfer functions often include an analytical low frequency diffraction model to reproduce stable azimuth cues which are independent of the quality and accuracy of high frequency pinnae data. This paper investigates the previously neglected effects of surface acoustic impedance on the salient azimuth cues produced by a single sphere di...

The Virtual Flute is a web service that provides many thousands of machine-predicted alternative fingerings. Alternative fingerings can offer variations in intonation and timbre, and can be easier to play in different musical contexts. Many play multiphonics. An advanced fingering guide is invaluable when exotic effects and demanding passages are required of the player. The Virtual Flute uses a...

The multiple parallel inverters have more than one resonant frequency influenced by many factors, which tends to result in stability and power quality problems. This paper develops the multiple input multiple output model of the grid-connected inverters system using the closed-loop transfer function. The influence factors of resonant characteristics are analyzed with the developed model. The an...

This article presents the concept and some aspects of physical implementation a virtual training laboratory (VTL) in field primary impedance metrology. The creation VTL provides novel method disseminating metrological knowledge expertise practical way at low cost. It will expose new users to live experience operating digital bridge thus helping encourage uptake this useful measurement technolog...

Impedance-type haptic devices are being developed for applications requiring high output forces and large workspaces. The natural dynamics of such haptic interfaces can be significant enough to interfere with the user’s perception of the virtual environment both in free motion and in contact. In such cases, the haptic control algorithm must be able to reduce /alter the apparent dynamics of the ...