Paper Info
Title
Stability and Performance of Haptic Interfaces with Active/Passive Actuators--Theory and Experiments
Abstract
This paper addresses both theoretical and experimental studies of the stability and performance of haptic interfaces containing active/passive actuators. Three different realizations of haptic interfaces are introduced to investigate their stability and performance: an active system equipped with a motor; a passive system equipped with a brake; and a hybrid system equipped with both brake and motor. The first objective is to demonstrate that a hybrid system is superior in its stability and performance to an active system via passivity theorem and Z-width. The second objective of this paper is to show that the conditions for the asymptotic stability of haptic interfaces during the static friction display are investigated via the absolute stability theory. Theoretical and experimental results are compared. An alternative haptic interface is proposed that provides its highly stable haptic interaction with high performance.
Year
DOI
Venue
2006
10.1177/0278364906071034
I. J. Robotic Res.
Keywords
Field
DocType
hybrid system,asymptotic stability,describing function,haptic interface
Passivity,Brake,Simulation,Control theory,Absolute stability,Control engineering,Exponential stability,Active systems,Hybrid system,Haptic technology,Mathematics,Actuator
Journal
Volume
Issue
ISSN
25
11
0278-3649
Citations 
PageRank 
References 
11
0.67
4
Authors
2
Name
Order
Citations
PageRank
Jinung An111520.43
Dong-Soo Kwon2753119.20