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HAPTICS
2008
IEEE

Extending the Z-Width of a Haptic Device Using Acceleration Feedback

8 years 8 months ago
Extending the Z-Width of a Haptic Device Using Acceleration Feedback
Abstract. This paper proposes a nonlinear controller to extend the Zwidth of a haptic device. A time-domain passivity analysis of the Z-width diagram leads to the new haptic controller, which employs acceleration feedback. The passivity condition for one degree of freedom (1DOF) haptic interaction with a virtual wall via the proposed controller is derived using passivity theory in the frequency domain. The perfomance of the proposed controller is validated experimentally on a PHANTOM Omni haptic device. The experiments illustrate that the new controller considerably extends the Z-witdh of the haptic interface.
Naser Yasrebi, Daniela Constantinescu
Added 29 May 2010
Updated 29 May 2010
Type Conference
Year 2008
Where HAPTICS
Authors Naser Yasrebi, Daniela Constantinescu
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