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 |
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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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