Some practical issues in time domain passivity control of haptic interfaces

Author

Kim, Yoon Sang ; Hannaford, Blake

Author_Institution

Dept. of Electr. Eng., Washington Univ., Seattle, WA, USA

Volume

3

fYear

2001

fDate

2001

Firstpage

1744

Abstract

In this paper, two major practical issues are studied to improve the performance of a new energy based method of achieving stable, high performance haptic interface control. The first issue is related to resetting the amount of energy accumulated in the passivity observer for faster operation. A heuristic method is derived and experimentally tested for the resetting and it is shown to help the PC to operate sooner when the system gets active. The second one was noise in velocity measurements being magnified into audible force signals by the controller. This issue was addressed by the introduction of a velocity threshold and it is verified that the velocity threshold makes the PC more free from the noise effect at low velocity. Experimental results are presented for the "Excalibur" haptic device

Keywords

haptic interfaces; heuristic programming; microcomputer applications; noise; stability; Excalibur; audible force signals; energy based method; haptic device; heuristic; noise; passivity observer; stable high-performance haptic interface control; time domain passivity control; velocity measurements; velocity threshold; Acoustic noise; Displays; Haptic interfaces; Humans; Laboratories; Noise measurement; System testing; Velocity control; Virtual environment; Working environment noise;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.977230

Filename

977230