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Stable Haptic Interaction Using the Excalibur Force Display

10 years 3 months ago
Stable Haptic Interaction Using the Excalibur Force Display
Creating a compelling haptic sense of immersion in a virtual environment is a challenging task for the control engineer. A haptic display must render both low impedance free-space motion and high impedance rigid constraints while ensuring stable interaction. This paper outlines a control design approach for the most common haptic display implementation, the impedance display. Two-port absolute stability criteria are used to develop explicit design bounds for virtual coupling networks which guarantee system stability for a broad class of human operators and virtual environments. The technique is applied to the Excalibur three-axis force display. The resulting absolutely stable haptic interface is the centerpiece of a Virtual Building Block simulation which emulates the behavior of LEGOTM bricks in a virtual environment.
Richard J. Adams, Daniel Klowden, Blake Hannaford
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Richard J. Adams, Daniel Klowden, Blake Hannaford
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