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Content Provider | IEEE Xplore Digital Library |
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Author | Wilson, R.P. Chan, S. Salisbury, J.K. Niemeyer, G. |
Copyright Year | 2010 |
Description | Author affiliation: Department of Mechanical Engineering, Stanford University, CA 94035, USA (Wilson, R.P.; Chan, S.; Salisbury, J.K.) || Willow Garage and with the Faculty of Mechanical Engineering, Stanford University, CA 94035, USA (Niemeyer, G.) |
Abstract | Previous work has shown that high frequency content is important for realistic haptic feedback, while stability considerations limit the ability of closed-loop control to effectively generate high frequencies. Open-loop playback of high frequencies offers a promising way to generate rich contact transients and textures, but complex high frequency dynamics cause distortion. This paper explores the equalization and dynamic decoupling of multi-DOF haptic devices for accurate open-loop playback. Toward this end, a user study is performed to determine the frequency limit of human force direction sensitivity at 35Hz. This information together with experimental system identification techniques is used to develop a strategy for equalization in different frequency bands. Finally, MIMO equalization is accomplished through online simulation of the system model under the control of an LQR tracking controller |
Starting Page | 4656 |
Ending Page | 4661 |
File Size | 877562 |
Page Count | 6 |
File Format | |
ISBN | 9781424466740 |
ISSN | 21530866 |
e-ISBN | 9781424466764 |
DOI | 10.1109/IROS.2010.5650383 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2010-10-18 |
Publisher Place | Taiwan |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Haptic interfaces Acceleration Couplings Force MIMO Dynamics Mathematical model |
Content Type | Text |
Resource Type | Article |
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