NDLI: Multi-DOF equalization of haptic devices for accurate rendering at high frequencies

Content Provider	IEEE Xplore Digital Library
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	PDF
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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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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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