Stable Haptic Interaction Using the Excalibur Force Display

Adams, R. and Klowden, D. and Hannaford, B. (2000) Stable Haptic Interaction Using the Excalibur Force Display. IEEE Intl. Conf. on Robotics and Automation.

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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.

Item Type:	Article
Subjects:	D Haptics
Divisions:	Department of Electrical Engineering
Depositing User:	Muneaki Miyasaka
Date Deposited:	27 Jul 2015 23:45
Last Modified:	27 Jul 2015 23:45
URI:	http://brl.ee.washington.edu/eprints/id/eprint/202

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