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Abstract: A Two-Port Framework for the Design of Unconditionally Stable Haptic Interfaces
A Two-Port Framework for the Design of Unconditionally Stable Haptic Interfaces
R. Adams
B. Hannaford
To appear in the Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, B.C., Canada, Nov. 1998.
© 1998 IEEE.
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Abstract:
A haptic interface is a kinesthetic link between a human operator and
a virtual environment. This paper addresses stability and performance
issues associated with haptic interaction. It generalizes and extends
the concept of a virtual coupling network, an artificial connection
between a haptic display and a virtual world, to include both the
impedance and admittance models of haptic interaction. A benchmark
example exposes an important duality between these two cases. Linear
circuit theory is used to develop necessary and sufficient conditions
for the stability of a haptic simulation, assuming the human operator
and virtual environment are passive. These equations lead to an
explicit design procedure for virtual coupling networks which give
maximum performance while guaranteeing stability. By decoupling the
haptic display control problem from the design of virtual
environments, the use of a virtual coupling network frees the
developer of haptic-enabled virtual reality models from issues of
mechanical stability.
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