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[113] Citation: Abstract
A haptic interface is a kinesthetic link between a human
operator and a virtual environment. This paper addresses
stability and performance issues associated with haptic interaction.
It generalizes and extends the concept of a virtual coupling
network, an artificial connection between a haptic display
and a virtual world, to include both the impedance and admittance
models of haptic interaction. A benchmark example exposes
an important duality between these two cases. Linear circuit
theory is used to develop necessary and sufficient conditions
for the stability of a haptic simulation, assuming the human
operator and virtual environment are passive. These equations
lead to an explicit design procedure for virtual coupling networks
which give maximum performance while guaranteeing stability.
By decoupling the haptic display control problem from the
design of virtual environments, the use of a virtual coupling
network frees the developer of haptic-enabled virtual reality
models from issues of mechanical stability.
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Updated: Tue Aug 19 09:16:09 2008
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