Search For:

Displaying 1-11 out of 11 total
Stabilization Through Gyration: A Wave Variable Approach to High Frequency Force Feedback in Telerobotics
Found in: Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on
By Neal A. Tanner, Gunter Niemeyer
Issue Date:March 2006
pp. 24
as vital to achieving a realistic telerobotic experience. However, the feedback of measured forces can trigger contact instabilities when interacting with stiff environments. We present a novel feedback approach based on wave variable design, taking advant...
 
Real-time estimation of human impedance for haptic interfaces
Found in: World Haptics Conference
By Matthew D. Hill, Gunter Niemeyer
Issue Date:March 2009
pp. 440-445
Humans significantly vary the impedance of their limbs during many manipulation tasks and during interaction with their environment. Humans vary their impedance to reduce contact forces, to increase positional control, and to stabilize unstable dynamics. T...
 
Design Guidelines for Wave Variable Controllers in Time Delayed Telerobotics
Found in: World Haptics Conference
By J. Scot Hart, Gunter Niemeyer
Issue Date:March 2007
pp. 182-187
<p>Wave variable controllers provide a passive force reflecting means of communication across time delays in telerobotics. In practice however it is often unclear how to best
 
Wave Haptics: Providing Stiff Coupling to Virtual Environments
Found in: Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on
By Nicola Diolaiti, Günter Niemeyer
Issue Date:March 2006
pp. 28
Traditional haptic rendering creates virtual springs using DC motors with current amplifiers and encoder-based position feedback. In these schemes, quantization, discretization, and amplifier bandwidth all impose performance limits. Meanwhile the amplifier...
 
Event-Based Haptic Tapping with Grip Force Compensation
Found in: Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on
By Jonathan Fiene, Katherine J. Kuchenbecker, Gunter Niemeyer
Issue Date:March 2006
pp. 19
Previous work in event-based haptics has demonstrated that augmenting position-based force feedback with high-frequency impact transients significantly improves the realism of virtual tapping. Transients can be portrayed more accurately by accounting for t...
 
Event-Based Haptics and Acceleration Matching: Portraying and Assessing the Realism of Contact
Found in: World Haptics Conference
By Katherine J. Kuchenbecker, Jonathan Fiene, Günter Niemeyer
Issue Date:March 2005
pp. 381-387
Contact in a typical haptic environment resembles the experience of tapping on soft foam, rather than on a hard object. Event-based, high-frequency transient forces must be superimposed with traditional proportional feedback to provide realistic haptic cue...
 
The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering
Found in: World Haptics Conference
By Nicola Diolaiti, Günter Niemeyer, Federico Barbagli, J. Kenneth Salisbury, Claudio Melchiorri
Issue Date:March 2005
pp. 237-246
Rendering stiff virtual objects remains a core challenge in the field of haptics. A study of this problem is presented, which relates the maximum achievable object stiffness to the elements of the control loop. In particular, we examine how the sampling ra...
 
Haptic Rendering with Predictive Representation of Local Geometry
Found in: Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on
By June Gyu Park, Günter Niemeyer
Issue Date:March 2004
pp. 331-338
<p>Haptic rendering of large and detailed virtual objects can require a signi.cant computational load. Built out of a vast number of primitives, the object models can strain algorithms such as collision detection and constrained optimization, which a...
 
Haptic Display of Contact Location
Found in: Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on
By Katherine J. Kuchenbecker, William R. Provancher, Günter Niemeyer, Mark R. Cutkosky
Issue Date:March 2004
pp. 40-47
This work presents a new haptic device that integrates contact location feedback with grounded point-force display. The system consists of a thimble-based mechanism attached to the endpoint of a Phantom® robotic arm. Contact location is rendered using a sm...
 
Toward Event-Based Haptics: Rendering Contact Using Open-Loop Force Pulses
Found in: Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on
By Jesse D. Hwang, Michael D. Williams, Günter Niemeyer
Issue Date:March 2004
pp. 24-31
<p>An event-based method is proposed to improve realism in haptic displays. Many interesting interactions, for example tapping on a stiff environment, are characterized by ringing and high-frequency force signals. Traditional closed loop controllers,...
 
User Perception and Preference in Model Mediated Telemanipulation
Found in: World Haptics Conference
By Probal Mitra, Diana Gentry, Gunter Niemeyer
Issue Date:March 2007
pp. 268-273
Model mediated teleoperation allows users to interact with a remote environment via a local rendition to mitigate the effects of large communication delays. As the slave encounters an environment a model is identified, transmitted to the master, then hapti...
 
 1