Title :
A practical measure of dynamic response of haptic devices
Author :
Moreyra, Manuel ; Hannaford, Blake
Author_Institution :
Haptic Technol. Inc., Seattle, WA, USA
Abstract :
A method is described to characterize and experimentally measure the dynamic performance of haptic display devices. The method characterizes the response to impulse inputs of various frequencies characteristic of simulating hard contacts in virtual environments. By comparing the experimentally measured velocity just after the impulse with the actual velocity, a dimensionless measure of structural distortion is derived. The method is easy to apply because no additional sensors or test fixtures are required. This paper presents a derivation of the structural deformation ratio for the single degree of freedom case, generalization to N-DOF spatial devices, and experimental results for a single axis of a rugged haptic device in our laboratory
Keywords :
deformation; dynamic response; man-machine systems; manipulator dynamics; user interfaces; dynamic response; force displays; haptic devices; manipulators; structural deformation ratio; structural distortion; virtual environments; Displays; Distortion measurement; Fixtures; Frequency; Haptic interfaces; Laboratories; Sensor phenomena and characterization; Testing; Velocity measurement; Virtual environment;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.676430