Stable physical human-robot interaction using fractional order admittance control
In the near future, humans and robots are expected to perform collaborative tasks involving
physical interaction in various environments, such as homes, hospitals, and factories …
physical interaction in various environments, such as homes, hospitals, and factories …
Design and rapid construction of a cost-effective virtual haptic device
Over the past few decades, the rapid development of haptic technology has made it widely
used in the fields of virtual reality, video games, rehabilitation, education, and …
used in the fields of virtual reality, video games, rehabilitation, education, and …
Midfrontal theta power encodes the value of haptic delay
The use of haptic technologies in modern life scenarios is becoming the new normal
particularly in rehabilitation, medical training, and entertainment applications. An evident …
particularly in rehabilitation, medical training, and entertainment applications. An evident …
Framework for human haptic perception with delayed force feedback
W Fu, MM van Paassen, DA Abbink… - IEEE Transactions on …, 2018 - ieeexplore.ieee.org
Time delays in haptic teleoperation affect the ability of human operators to assess
mechanical properties (damping, mass, and stiffness) of the remote environment. To …
mechanical properties (damping, mass, and stiffness) of the remote environment. To …
Modeling human difference threshold in perceiving mechanical properties from force
W Fu, A Landman, MM van Paassen… - IEEE Transactions on …, 2018 - ieeexplore.ieee.org
We discuss an extension of the basic principles underlying the human haptic just noticeable
difference (JND) in perceiving a manipulator's mechanical properties from force feedback …
difference (JND) in perceiving a manipulator's mechanical properties from force feedback …
Evaluation of velocity estimation methods based on their effect on haptic device performance
This paper comparatively evaluates the effect of real-time velocity estimation methods on the
passivity and fidelity of virtual walls implemented using haptic interfaces. Impedance width …
passivity and fidelity of virtual walls implemented using haptic interfaces. Impedance width …
Midfrontal theta oscillation encodes haptic delay
Haptic technologies aim to simulate tactile or kinesthetic interactions with a physical or
virtual environment in order to enhance user experience and/or performance. However, due …
virtual environment in order to enhance user experience and/or performance. However, due …
Dynamic reconfiguration of redundant haptic interfaces for rendering soft and hard contacts
There are conflicting objectives between required characteristics of haptic interfaces such as
maximum force feedback capability versus back-drive friction, which can be optimally traded …
maximum force feedback capability versus back-drive friction, which can be optimally traded …
General Discretization Method for Enhanced Kinesthetic Haptic Stability
L Pecly, K Hashtrudi-Zaad - IEEE Transactions on Haptics, 2023 - ieeexplore.ieee.org
The stability of haptic simulation systems has been studied for a safer interaction with virtual
environments. In this work, the passivity, uncoupled stability, and fidelity of such systems are …
environments. In this work, the passivity, uncoupled stability, and fidelity of such systems are …
Effect of low-pass filtering on passivity and rendering performance of series elastic actuation
OT Kenanoglu, CU Kenanoglu… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
We study the effect of low-pass filtering on the passivity and performance of series elastic
actuation (SEA) under velocity-sourced impedance control (VSIC) while rendering virtual …
actuation (SEA) under velocity-sourced impedance control (VSIC) while rendering virtual …