DocumentCode
1014611
Title
Stability analysis of a 1 DOF haptic interface using the Routh-Hurwitz criterion
Author
Gil, Jorge Juan ; Avello, Alejo ; Rubio, Ángel ; Flórez, Julián
Author_Institution
Appl. Mech. Dept., Centro de Estudios e Investigaciones Tecnicas, San Sebastian, Spain
Volume
12
Issue
4
fYear
2004
fDate
7/1/2004 12:00:00 AM
Firstpage
583
Lastpage
588
Abstract
A haptic interface is a kinesthetic link between a human operator and a virtual environment. A way of studying the stability of a 1 degree-of-freedom (DOF) haptic interface using the Routh-Hurwitz criterion is presented in this brief. Parameter conditions that guarantee the stability of the system with a static virtual environment have been found. These conditions can help in the development and implementation of haptic devices. Finally, they have been confirmed by experimental results.
Keywords
Routh methods; discrete time systems; haptic interfaces; stability criteria; Routh-Hurwitz criterion; degree-of-freedom; discrete-time systems; haptic interface; stability analysis; tactile systems; Gas insulated transmission lines; Haptic interfaces; Humans; Impedance; Layout; Manipulators; Robots; Stability analysis; Stability criteria; Virtual environment; Discrete time systems; human factors; routh methods; stability; tactile systems;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/TCST.2004.825134
Filename
1308188
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