Title :
Identification of nonlinear passive devices for haptic simulations
Author :
Colton, Mark B. ; Hollerbach, John M.
Author_Institution :
Dept. of Mech. Eng., Utah Univ., Salt Lake City, UT, USA
Abstract :
This paper describes a method for identifying models of a class of nonlinear passive devices, such as switches, knobs, and buttons. A general nonlinear impedance model is presented, which accounts for dynamics that change with both position and direction. Exponentially-weighted least-squares is used to fit the nonlinear model to experimental data from a specially designed physical 1-DOF test device with inherent nonlinearities. The data are obtained using an instrumented linear probe.
Keywords :
digital simulation; haptic interfaces; least mean squares methods; mechanical products; virtual reality; 1-DOF test device; exponentially-weighted least-squares; haptic simulations; instrumented linear probe; nonlinear impedance model; nonlinear passive devices; Haptic interfaces; Teleoperators; Virtual environment;
Conference_Titel :
Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. World Haptics 2005. First Joint
Print_ISBN :
0-7695-2310-2
DOI :
10.1109/WHC.2005.77
