DocumentCode
397921
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
Volume
4
fYear
2003
fDate
5-8 Oct. 2003
Firstpage
3420
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2003. IEEE International Conference on
ISSN
1062-922X
Print_ISBN
0-7803-7952-7
Type
conf
DOI
10.1109/ICSMC.2003.1244418
Filename
1244418
Link To Document