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[Th022] Citation: Abstract
Two-port absolute stability criteria are used to develop explicit control law
design bounds
for three detailed haptic display implementations: the basic impedance display,
the
impedance display with force compensation, and the admittance display. The
strengths
and weaknesses of each approach are illustrated through numerical and
experimental
results for two different haptic devices: the planar High Bandwidth Force
Display and the
Excalibur three-axis force display. The examples highlight the ability of the
proposed
design approach to handle some of the most difficult problems in control law
synthesis for
haptics, including structural flexibility and non-collocation of sensors and
actuators. Good
agreement is observed between theoretically predicted and experimental results.
An absolutely stable haptic interface, designed using these methods, is the
centerpiece of a
Virtual Building Block training study. This study investigates the benefits of
haptic
feedback for training a manual task in a virtual environment. Three groups of
test
operators are exposed to different treatments before being asked to build a
LEGO�biplane model: virtual training with force feedback, virtual training without
force feedback,
and no training. Results show training with haptic feedback has a significant
impact on
performance in the manual real-world task.
["I would like a hard copy of this report"]
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Updated: Tue Jul 15 23:54:51 2008
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