NDLI: Stable haptic interaction control using energy bounding algorithm

Content Provider	IEEE Xplore Digital Library
Author	Jong-Phil Kim Jeha Ryu
Copyright Year	2004
Description	Author affiliation: Dept. of Mechatronics, Gwang-Ju Inst. of Sci. & Technol., Gwangju, South Korea (Jong-Phil Kim; Jeha Ryu)
Abstract	Stability is one of the important considerations in the design and control of haptic simulation systems because unstable behavior may cause damage on human operator or deterioration of realistic haptic feeling. In this paper, a basic theory on the passivity condition for the sampled-data system has been reviewed and energy relations on each subsystem of haptic simulation have been investigated. Based on this, we propose a novel energy bounding algorithm for stable haptic interaction control. The proposed energy bounding algorithm restricts the energy that is generated by the sample and holds within the energy consumable by the physical damping in a haptic device and makes the virtual environment and controller passive as well. This algorithm, therefore, guarantees the passivity condition of the haptic simulation regardless of sampling frequency. Experimental validation with a commercial haptic device has been presented.
Starting Page	1210
Ending Page	1217
File Size	533577
Page Count	8
File Format	PDF
ISBN	0780384636
DOI	10.1109/IROS.2004.1389561
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-28
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Humans Stability Virtual environment Damping Sampling methods Virtual reality Force feedback Robot sensing systems Manipulators
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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