Influence of internal vibration modes on the stability of haptic rendering

被引：7
|
作者：
Diaz, Inaki [1 ]
Gil, Jorge Juan [1 ]
机构：
[1] CEIT, Dept Appl Mech, E-20018 San Sebastian, Spain
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年
关键词：
haptic systems; stability; vibrations;
D O I：
10.1109/ROBOT.2008.4543647
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Developing stable controllers able to exhibit a wide dynamic range of impedances is a persistent challenge in the field of haptics. This paper addresses the effect of internal vibration modes on the stability boundary for haptic rendering. A theoretical study that analyzes the influence of the first resonant mode on the maximum achievable impedance is presented. Experiments carried out on the LHIfAM haptic interface support the theoretical conclusions. A control architecture that overcomes the undesired effect of the resonant mode on the stability is also described.
引用
收藏
页码：2884 / 2889
页数：6
相关论文
共 50 条
  • [41] Haptic Rendering of Tissue Stiffness by the Haptic Enhanced Reality Method
    Otsuru, Yoshihide
    Tsuji, Toshio
    Kurita, Yuichi
    HAPTICS: NEUROSCIENCE, DEVICES, MODELING, AND APPLICATIONS, PT II, 2014, 8619 : 320 - 325
  • [42] Haptic Rendering of Tissue Stiffness by the Haptic Enhanced Reality Method
    Otsuru, Yoshihide
    Tsuji, Toshio
    Kurita, Yuichi
    HAPTICS: NEUROSCIENCE, DEVICES, MODELING, AND APPLICATIONS, PT II, 2014, 8619 : 438 - 439
  • [43] Stable Discrete-Time Impedances for Haptic Systems With Vibration Modes and Delay
    Ciaurriz, Pablo
    Diaz, Inaki
    Juan Gil, Jorge
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2014, 22 (03) : 884 - 895
  • [44] Haptic Texture Rendering Based on Visual Texture Information: A Study to Achieve Realistic Haptic Texture Rendering
    Adi, Waskito
    Sulaiman, Suziah
    VISUAL INFORMATICS: BRIDGING RESEARCH AND PRACTICE, 2009, 5857 : 279 - 287
  • [45] Proxy-Based Haptic Rendering for Underactuated Haptic Devices
    Lobo, Daniel
    Sarac, Mine
    Verschoor, Mickeal
    Solazzi, Massimiliano
    Frisoli, Antonio
    Otaduy, Miguel A.
    2017 IEEE WORLD HAPTICS CONFERENCE (WHC), 2017, : 48 - 53
  • [46] Nonlinear Modes of Vibration and Internal Resonances in Nonlocal Beams
    Ribeiro, Pedro
    Thomas, Olivier
    JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS, 2017, 12 (03):
  • [47] A Human Arm's Mechanical Impedance Tuning Method for Improving the Stability of Haptic Rendering
    Lu, Xiong
    Qi, Beibei
    Zhao, Hao
    Sun, Junbin
    ROBOTICA, 2021, 39 (04) : 652 - 664
  • [48] Surface-data-based haptic rendering for simulation of surgery of closed reduction and internal fixation
    Cho, Jang Ho
    Jung, Hoeryong
    Yu, Insik
    Lee, Kyungno
    Lee, Doo Yong
    Ahn, Hyung Soo
    Park, Ilhyung
    Yeo, Sang Hee
    Han, Seung-Ho
    2007 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-16, 2007, : 210 - +
  • [49] Sensation-preserving haptic rendering
    Lin, MC
    Otaduy, MA
    IEEE COMPUTER GRAPHICS AND APPLICATIONS, 2005, 25 (04) : 8 - 11
  • [50] Perceptual rendering for learning haptic skills
    Edmunds, Timothy
    Pai, Dinesh K.
    SYMPOSIUM ON HAPTICS INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS 2008, PROCEEDINGS, 2008, : 225 - 230
12345