Intrinsically Passive Force Scaling in Haptic Interfaces


Secchi, Cristian and Stramigioli, Stefano and Fantuzzi, Cesare (2006) Intrinsically Passive Force Scaling in Haptic Interfaces. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, October 9-15, 2006, Beijing, China (pp. pp. 2121-2126).

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Abstract: In several applications involving haptic interfaces it can be desirable to scale the interaction force perceived by the user. The most intuitive approach is to change the stiffness of the virtual environment but, unfortunately, changing the physical parameters that characterize a virtual environment is a potentially destabilizing action. In this paper we embed in the intrinsically passive haptic scheme recently proposed in S. Stramigioli et al. (2005) a power scaling interconnection that allows to scale the force perceived by the user while preserving the passivity, and consequently the stable behavior, of the overall system
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Copyright:© 2006 IEEE
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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