Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Nonlinear Virtual Coupling for Stable Haptic Interaction

안정된 햅틱 인터페이스를 위한 비선형가상커플링

  • 이문환 (한국과학기술원 기계공학과) ;
  • 이두용 (한국과학기술원 기계공학과)
  • Published : 2003.08.01
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Abstract

This paper proposes a nonlinear virtual coupling fur haptic interface, which offers better performance while maintaining stability of the system. The nonlinear virtual coupling is designed based on a human response model. This human response model exploits delay between the human Intention and the actual change of arm impedance. The proposed approach provides with less conservative constraints for the design of stable haptic interface, compared with the traditional passivity condition. This allows increased performance that is verified through experiments.

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References

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Cited by

  1. Stability Analysis of a Haptic System with a First-Order-Hold Method vol.20, pp.4, 2014, https://doi.org/10.5302/J.ICROS.2014.13.1970