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[120] Citation: R. J. Adams, B. Hannaford,
'Stable Haptic Interaction with Virtual Environments,'
IEEE Transactions on Robotics and Automation, vol. 15(3), pp. 465-74, January 1999.
Abstract
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 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 Jul 15 23:54:50 2008
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