Stable Haptic Interaction with Virtual Environments

Adams, R.J. (1999) Stable Haptic Interaction with Virtual Environments. Doctoral thesis, University of Washington.

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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.

Item Type: Thesis (Doctoral)
Subjects: D Haptics
Divisions: Department of Electrical Engineering
Depositing User: Brady Houston
Date Deposited: 14 Jul 2015 18:51
Last Modified: 14 Jul 2015 18:51

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