Numerical methods for the haptic presentation of contact: Theory, simulations, and experiments
3
Ellis, R. E.
Sarkar, N.
Jenkins, M., A.
Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 58, pp. 413-420, 1996
1996 ASME
http://www.qucis.queensu.ca/home/ellis/postscript/hapticmethods.ps
An important problem in the field of haptic display devices and
telerobotics is poor force reflection of contact, particularly of
contact with stiff surfaces.  There are numerous possible sources of
poor performance, including poor contact models, sampling errors, and
delays due to computation or data transmission. In this paper we
examine effects due to sample-and-hold, which is a fundamental
property of both the discrete domain and also of the sensors and power
amplifiers used in a haptic-interface system.

We propose that the sample-and-hold concept be generalized to
sample-estimate-hold.  We show why ordinary zero-order hold generates
an active contact interface, and provide ways of improving the feeling
of the interface.  We have developed a suite of numerical methods for
improving the performance of haptic presentation of surfaces. We have
conducted both simulations and experiments to demonstrate the efficacy
of the proposed scheme. Our contributions are a new method of
digitally processing force data, and a systematic method for coupling
force-processing systems that run at different rates.