NDLI: Closed-loop stiffness and damping accuracy of impedance-type haptic displays

Content Provider	IEEE Xplore Digital Library
Author	Colonnese, N. Sketch, S.M. Okamura, A.M.
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA (Colonnese, N.; Sketch, S.M.; Okamura, A.M.)
Abstract	Impedance-type kinesthetic haptic displays aim to render arbitrary desired dynamics to a human operator using force feedback. To effectively render realistic virtual environments, the difference between desired and rendered dynamics must be small. In this paper, we analyze the closed-loop dynamics of haptic displays for three common virtual environments: a spring, a damper, and a spring-damper, including the effects of time delay and low-pass filtering. Using a linear model, we identify important parameters for accuracy in terms of “effective impedances,” a conceptual tool that decomposes the display's closed-loop impedance to components with physical analogs. Our results establish bandwidth limits for rendering effective stiffness and damping. The stiffness bandwidth is limited by the virtual stiffness and device mass, and the damping bandwidth is limited by the cut-off frequency of the low-pass filter. Time delay reduces the effective damping of spring and spring-damper displays, reduces the effective mass for damper displays, and can introduce effective jerk feedback; otherwise delay has negligible effect on accuracy (when the system is stable). Experimental data gathered with a Phantom Premium 1.5 validates the theoretical analysis. This work informs haptic display design by presenting how closed-loop behavior changes with key parameters.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	97
Ending Page	102
File Size	1694332
Page Count	6
File Format	PDF
ISBN	9781479931316
ISSN	23247355
DOI	10.1109/HAPTICS.2014.6775439
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-02-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Damping Impedance Delays Shock absorbers Springs Delay effects
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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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