World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
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.
K. Huang and D. Lee, "Passive set-position modulation approach for haptics with slow, variable, and asynchronous update," World Haptics Conference(WHC), Salt Lake City, UT, USA, 2009, pp. 541-546.