Continuous impulsive force controller for Forbidden-Region Virtual Fixtures

Forbidden-region virtual fixtures (FRVFs) are traditionally imposed on users via proportional-derivative (PD) control. To reduce user penetration into the forbidden region, this paper proposes a new controller, hereafter called continuous impulsive force (CIF) controller. The CIF controller generates passive impulsive forces throughout users´ motion into the forbidden region. These impulsive forces annihilate users´ velocity into the forbidden region. Superimposed on typical PD control forces, the CIF control forces reduce users´ incursion into the forbidden region, and render the feel of fully plastic collisions.