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HAPTICS
2003
IEEE

Path-Following Control for Dissipative Passive Haptic Displays

13 years 9 months ago
Path-Following Control for Dissipative Passive Haptic Displays
This paper addresses the problem of following an arbitrary path with a dissipative passive haptic display. Such a display has energetically passive actuators; all motive energy must come initially from the human operator and the display may then in general dissipate, redirect, and/or store the energy. Due to the passive restriction conventional haptic control techniques are not applicable. Three control concepts addressing this problem are presented. Simulated and experimental results are provided for these controllers as implemented on a 2 DOF dissipative haptic testbed with additional coupling elements.
Davin K. Swanson, Wayne J. Book
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where HAPTICS
Authors Davin K. Swanson, Wayne J. Book
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