Title :
Influence of Vibration Modes and Human Operator on the Stability of Haptic Rendering
Author :
Diaz, Ivan ; Gil, Jorge Juan
Author_Institution :
Dept. of Appl. Mech., Univ. of Navarra, San Sebastian, Spain
Abstract :
Developing stable controllers, which are able to display virtual objects with high stiffness, is a persistent challenge in the field of haptics. This paper addresses the effect of internal vibration modes and the human operator on the maximum achievable virtual stiffness. An 11-parameter mechanical model is used to adequately characterize the overall system dynamics. Experiments that are carried out on LHIfAM and PHANToM haptic interfaces demonstrate the importance of vibration modes to determine the critical stiffness when the user grasps the device.
Keywords :
control engineering computing; haptic interfaces; rendering (computer graphics); stability; 11-parameter mechanical model; LHIfAM haptic interfaces; PHANToM haptic interfaces; haptic rendering; human operator; internal vibration modes; stability; virtual objects; Haptics and haptic interfaces; physical human–robot interaction; stability; vibration modes;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2009.2037254
