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Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
ISBN: 978-1-4244-3858-7
pp: 541-546
Dongjun Lee , 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.
Dongjun Lee, "Passive set-position modulation approach for haptics with slow, variable, and asynchronous update", WHC, 2009, World Haptics Conference, World Haptics Conference 2009, pp. 541-546, doi:10.1109/WHC.2009.4810852
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