Stable physical human-robot interaction using fractional order admittance control

Y Aydin, O Tokatli, V Patoglu… - IEEE Transactions on …, 2018 - ieeexplore.ieee.org
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 …

Design and rapid construction of a cost-effective virtual haptic device

F Wang, Z Qian, Y Lin, W Zhang - IEEE/ASME Transactions on …, 2020 - ieeexplore.ieee.org
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 …

Midfrontal theta power encodes the value of haptic delay

H Alsuradi, W Park, M Eid - Scientific reports, 2022 - nature.com
The use of haptic technologies in modern life scenarios is becoming the new normal
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 …

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 …

Evaluation of velocity estimation methods based on their effect on haptic device performance

V Chawda, O Celik, MK O'Malley - IEEE/ASME Transactions on …, 2018 - ieeexplore.ieee.org
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 …

Midfrontal theta oscillation encodes haptic delay

H Alsuradi, W Park, M Eid - Scientific reports, 2021 - nature.com
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 …

Dynamic reconfiguration of redundant haptic interfaces for rendering soft and hard contacts

A Torabi, K Zareinia, GR Sutherland… - IEEE Transactions on …, 2020 - ieeexplore.ieee.org
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 …

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 …

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 …