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World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
An energy bounding approach for directional transparency in multiple degree-of-freedom haptic interaction
Salt Lake City, UT, USA
March 18-March 20
ISBN: 978-1-4244-3858-7
Jaeha Kim, Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea
Jong-Phil Kim, Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea
Changhoon Seo, Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea
Jeha Ryu, Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea
This paper presents an energy bounding approach (EBA) to enhance directional transparency while guaranteeing stability for multiple degree-of-freedom (DOF) haptic interaction. It was observed that the passivity condition for multiple ports may lead to some oscillations in some coordinate directions even though total energy is positive. The passivity condition, therefore, needs to be applied to each orthogonal coordinate. For guaranteeing stability in each orthogonal coordinate, the EBA is applied. For multiple-dof haptic interaction, however, the EBA in each coordinate may cause a problem that the direction of the rendered force vector is distorted. This problem can easily be solved by projecting the direction of the rendered force vector on its original direction. The validity of the proposed algorithm is shown by some experiments.
Citation:
Jaeha Kim, Jong-Phil Kim, Changhoon Seo, Jeha Ryu, "An energy bounding approach for directional transparency in multiple degree-of-freedom haptic interaction," whc, pp.320-325, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009
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