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[128] Citation: Abstract
Creating a compelling haptic sense of immersion in a
virtual environment is a challenging task for the control
engineer. A haptic display must render both low
impedance free-space motion and high impedance rigid
constraints while ensuring stable interaction. This paper
outlines a control design approach for the most common
haptic display implementation, the impedance display.
Two-port absolute stability criteria are used to develop
explicit design bounds for virtual coupling networks
which guarantee system stability for a broad class of
human operators and virtual environments. The
technique is applied to the Excalibur three-axis force
display. The resulting absolutely stable haptic interface
is the centerpiece of a Virtual Building Block simulation
which emulates the behavior of LEGO TM bricks in a virtual environment.
["I would like a hard copy of this report"]
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Updated: Tue Jul 15 23:54:50 2008
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