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[117] Citation: Abstract
A method is described to characterize and experimentally measure the
dynamic performance of haptic display devices. The method characterizes
the response to impulse inputs of various frequencies characteristic of
simulating hard contacts in virtual environments. By comparing the
experimentally measured velocity just after the impulse with the actual
velocity, a dimensionless measure of structural distortion is derived.
The method is easy to apply because no additional sensors or test
fixtures are required. This paper presents a derivation of the
structural deformation ratio for the single degree of freedom case,
generalization to N-dof spatial devices, and experimental results for a
single axis of a rugged haptic device in our laboratory.
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Updated: Tue Jul 15 23:54:50 2008
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