Title :
Absolute stable haptic interaction with the isotropic force display
Author :
Frisoli, A. ; Bergamasco, M.
Author_Institution :
PERCRO Scuola Superiore S. Anna, Pisa, Italy
Abstract :
This paper presents different conditions for unconditional stability of the interaction of human operators with haptic interface systems. Criteria for the unconditional stability have been theoretically derived and experimentally assessed on the isotropic force display. A good match has been observed between theoretical predictions and real performance.
Keywords :
force feedback; haptic interfaces; manipulators; stability; absolute stable haptic interaction; isotropic force display; unconditional stability criteria; Damping; Displays; Force control; Friction; Haptic interfaces; Humans; Impedance; Kinematics; Stability; Virtual environment;
Conference_Titel :
Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on
Print_ISBN :
0-7803-7545-9
DOI :
10.1109/ROMAN.2002.1045610
