Internal dissipation in passive sampled haptic feedback systems


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Franken, Michel and Stramigioli, Stefano (2006) Internal dissipation in passive sampled haptic feedback systems. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, 10-15 Oct. 2009, St. Louis, MO, USA.

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Abstract:In this paper the passivity algorithm proposed in is revisited. This algorithm generates passive haptic feedback by monitoring the energy flows in the virtual environment. The original formulation of the algorithm could not deal well with large internal dissipation and high sampling frequencies. An alteration is proposed on how internal dissipation is handled. This alteration improves the robustness of the algorithm for a wider range of parameter values and sample times. The improved version of the algorithm is demonstrated in a virtual wall experiment.
Item Type:Conference or Workshop Item
Copyright:© 2009 IEEE
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:
Link to this item:http://purl.utwente.nl/publications/71396
Official URL:http://dx.doi.org/10.1109/IROS.2009.5353981
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