NDLI: Achievable environment rigidity of a haptic display to guarantee stability

Content Provider	IEEE Xplore Digital Library
Author	Luo, Y. Liu, H. Li, C. Zhang, Y.
Copyright Year	2008
Description	Author affiliation: Chinese Academy of Sciences (Luo, Y.; Liu, H.; Li, C.) \|\| Beijing University of Aeronautic and Astronautic (Zhang, Y.)
Abstract	To study the effect of transmission stiffness on the stability of a haptic display in virtual reality, a one-DOF(degree of freedom) haptic display system is modeled as a two-port electric network, and its absolute stable condition is provided according to two-port stable theory. Stability of a haptic display system can be evaluated by the achievable spring rigidity when displaying a parallel spring and damping virtual environment. The suggested absolute stable condition meets well with what is already generally accepted when the transmission stiffness trends to be infinite. Lastly the PHANToMDesktop is equivalent to be one-DOF on the manipulating space, and method for analyzing the stability and dynamic isotropy of analogous multi-DOF device is provided. Experimental results based on PHANToMDesktop show that the transmission stiffness has large effect on system stability.
Starting Page	829
Ending Page	834
File Size	630912
Page Count	6
File Format	PDF
ISBN	9781424416752
DOI	10.1109/RAMECH.2008.4690887
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Displays Virtual environment Humans Damping Virtual reality Springs Stability analysis Impedance Automation environment, transmission stiffness haptic display, port theory, stability, virtual
Content Type	Text
Resource Type	Article

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