In order to reduce the acoustic power radiated by a structure, co-located actuator and sensor pairs are used to virtually implement local mechanical impedance. For each pair, at each frequency of interest, the virtual mechanical impedance is a complex value which imposes a linear relationship between the dual local variables of the actuator input and the sensor output. The optimal virtual mecha...

In this paper, w ediscuss displaying a virtual object with coupling impedance by a haptic interface device with long sampling period. For such system to be stable, coupling impedance has to be set low. But it means that the operator feels soft surface of the virtual object and it is not suitable for displaying a virtual object with hard surface. This is because the system is a discrete time sys...

The notion of haptic transparency is used to quantify the delity with which virtual object properties are presented to, and perceived by, the human operator. Experimental results are presented quantifying the ability of humans to detect diierences in mechanical impedances representing typical types of impedance corruption (loss of transparency) encountered in haptic interfaces due to stability-...

Voltage source inverters (VSIs) are usually used for all kinds of distributed generation interfaces in a microgrid. It’s the microgrid’s superiority to power the local loads continuously when the utility fails. When in islanded mode the voltage and frequency of the microgrid are determined by the VSIs, therefore the power quality can be deteriorated under unbalanced and nonlinear loads. A volta...

We present a method for implementing “steadyhand control” on teleoperators where the master device is of the impedance type. Typical steady-hand systems are admittance controlled cooperative robots that can implement very high damping. Such systems are ideal for implementing guidance virtual fixtures, which are constraints in software that assist a user in moving a tool along preferred paths. O...

E cient control algorithms are developed to implement sti virtual walls without chatter. An analysis of the complete coupled system comprising controller, interface device, and user's nger underlies the design of a wall algorithm, thus each virtual wall is tailored to a speci c user impedance. The nger is modeled as a static second order impedance with justi cation drawn from empirical studies ...

One of the main trends in smart wheelchairs design is how to ensure a reliable remote tele-operation task with obstacle avoidance in a constrained environment. In this direction, various methods based on impedance control, potential field and edge detection have been investigated. These methods have advantage of making the fast motion planning for nearby obstacles, but with a shortcoming of get...