Title :
Stability of haptic interface using nonlinear virtual coupling
Author :
Lee, Moon Hwan ; Lee, Doo Yong
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea
Abstract :
This paper considers the stability of haptic interface that interacts with rigid virtual objects. Human arm is characterized with a linear time-invariant second-order impedance model, and a response model to the simulated force. Nonlinear virtual coupling is designed based on the human response model. This provides with less conservative constraint for the design of the stable haptic interface.
Keywords :
haptic interfaces; nonlinear control systems; piecewise linear techniques; stability; virtual reality; haptic interface; human arm; human response model; linear time-invariant model; nonlinear virtual coupling; rigid virtual objects; second-order impedance model; stability; Actuators; Couplings; Haptic interfaces; Humans; Impedance; Piecewise linear techniques; Sampling methods; Springs; Stability; Transfer functions;
Conference_Titel :
Systems, Man and Cybernetics, 2003. IEEE International Conference on
Print_ISBN :
0-7803-7952-7
DOI :
10.1109/ICSMC.2003.1244418
