Rendering virtual inertia in haptic interfaces: Analysis and limitations
Virtual environments designed for haptic applications are usually rendered as a combination
of spring and damper elements. The resulting haptic experience can be greatly enhanced by …
of spring and damper elements. The resulting haptic experience can be greatly enhanced by …
Haptic performance using voltage-mode motor control
Haptic devices driven by dc motors are usually controlled in current mode due to the direct
relationship between current and torque. This paper analyzes the performance of voltage …
relationship between current and torque. This paper analyzes the performance of voltage …
A practically linear relation between time delay and the optimal settling time of a haptic device
T Hulin - IEEE Robotics and Automation Letters, 2017 - ieeexplore.ieee.org
Haptic rendering denotes the process of computing and displaying forces from a virtual
environment to a human operator via a haptic device. From the control point of view, the …
environment to a human operator via a haptic device. From the control point of view, the …
Experimental study on the stability of an impedance-type force-feedback architecture based on an augmented-state observer for a haptic system under time delay …
QV Dang, L Vermeiren, A Dequidt… - Proceedings of the …, 2016 - journals.sagepub.com
One of the most important performance measures of a haptic interface may be characterized
by its behaviour in the implementation of a virtual wall in terms of the biggest value of the …
by its behaviour in the implementation of a virtual wall in terms of the biggest value of the …
Controlling two haptically-coupled devices: System modeling and stability analysis
This paper deals with the stability analysis of two haptically-coupled devices. It describes
how to model this kind of systems and shows how to obtain stable linking impedances. The …
how to model this kind of systems and shows how to obtain stable linking impedances. The …
Control of Hybrid Systems Affected by Time Delay with Application in Haptic Rendering
T Hulin - 2017 - elib.dlr.de
Haptic rendering denotes the process of computing and displaying forces from a virtual
environment to a human operator via a haptic device. From the control point of view, the …
environment to a human operator via a haptic device. From the control point of view, the …
Method for estimating the stability boundary of impedance haptic systems
The stability of impedance haptic systems is dependent upon several parameters such as
sampling rate, time delay, virtual viscous damping, the flexibility of the mechanical interface …
sampling rate, time delay, virtual viscous damping, the flexibility of the mechanical interface …
Haptic control implementation of a 3-RRR spherical parallel manipulator for medical uses
This paper presents a set of experiments which have been carried out in order to design a
task oriented device, for teleoperated minimally invasive surgery. The workspace of the …
task oriented device, for teleoperated minimally invasive surgery. The workspace of the …
Design assist apparatus, design assist method, and design assist program for a mechanical device driven by a feedback controlled electric motor
R Sato, A Nagao, T Hashimoto, T Sasaki - US Patent 11,669,651, 2023 - Google Patents
US11669651B2 - Design assist apparatus, design assist method, and design assist program for
a mechanical device driven by a feedback controlled electric motor - Google Patents …
a mechanical device driven by a feedback controlled electric motor - Google Patents …
[PDF][PDF] Sliding mode control design for haptic system with vibration mode
Haptic is cutting edge technology having vast application mobile, home, robotics and tele-
operations etc. It has enormous scope for tele-surgery using robotic arm with haptic …
operations etc. It has enormous scope for tele-surgery using robotic arm with haptic …