Stability and Performance of Haptic Displays: Theory and Experiments
3
R. Adams
M. Moreyra
B. Hannaford
To appear in the Proceedings of the ASME Interational Mechanical Engineering Congress and Exhibition
1998 ASME
http://brl.ee.washington.edu/brl/publications/Rep115.pdf
In haptic simulation, a human operator kinesthetically explores a
virtual environment. To achieve a virtual sense of touch, the human
interacts with an active mechanical device, called a haptic
display. This paper presents an approach to guarantee that this
physical man-machine interface remains stable, while maximizing
performance. The key element in ensuring stability is the virtual
coupling network, an artificial link between the haptic display and
the virtual environment. Considerations of structural flexibility in
the haptic device are included in the derivation of design criteria
for such networks. Solutions for both the impedance and admittance
models of haptic interaction are included. Numerical and experimental
results for a two degree-of-freedom haptic display demonstrate the
effectiveness of the proposed approach in achieving performance and
stability in haptic simulation.