Fig. 1. Block diagram for a haptic interface
Fig. 2. Boundary values of stable stiffness according to the virtual damper (a) sampling time = 1 ms (b) sampling time = 10 ms.
Fig. 3. The relation between boundary value of virtual damper and the sampling time according to sample- and-hold methods, respectively.
Fig. 4. Relation between stable maximum stiffness and sampling time
Fig. 5. The ratio of the boundary values of stable stiffness in the FOH method to that in the ZOH method.
Fig. 6. The relation between the ratio of the boundary values of stable stiffness in the FOH method to that in the ZOH method and the sampling time.
Table 1. Comparison between the simulation results and the previous results according to virtual damper.
Table 2. Boundary values of stable virtual damper and the ratio of the boundary value in the FOH method to that in ZOH method.
Table 3. The stable maximum stiffness, the virtual damper at the maximum stiffness, and the ratio of the stable maximum stiffness, according to the sample-and-hold methods, respectively.
Table 4. Maximum virtual damper that satisfying (3) and the ratio of the maximum value to the boundary value of the stable damper.
참고문헌
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