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World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Passive set-position modulation approach for haptics with slow, variable, and asynchronous update
Salt Lake City, UT, USA
March 18-March 20
ISBN: 978-1-4244-3858-7
Dongjun Lee, Department of Mechanical, Aerospace&Biomedical Engineering, University of Tennessee-Knoxville, USA
Ke Huang, Department of Mechanical, Aerospace&Biomedical Engineering, University of Tennessee-Knoxville, USA
We consider the following problem in haptics: information update from the virtual world is slow w.r.t. the local servo-loop rate of the haptic device, and the information transmission/update between the haptic device and the virtual world is of variable rate and/or asynchronous. For this, we propose a novel control framework, that, by relying on our recently proposed passive set-position modulation (PSPM) and discrete-time passive non-iterative integrators, enables us to enforce two-port hybrid (i.e. continuous-discrete) passivity for such slow and variable/asynchronous haptics as well as to separate the virtual world simulation design from the device's servo-loop tuning. Relevant experimental results are also presented.
Citation:
Dongjun Lee, Ke Huang, "Passive set-position modulation approach for haptics with slow, variable, and asynchronous update," whc, pp.541-546, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009
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