Name
Abstract | ||
|---|---|---|
This paper proposes a multirate control algorithm to guarantee the stability of haptic dental training system. In terms of a high-frequency force interpolating model, a multirate system with two levels up-sampling is introduced. The first level up-sampling achieves the haptic rendering with 1K Hz and the second level achieves the interpolating algorithm with 10K Hz or higher. Due to the slow velocity of dental training system, the complex virtual tooth surface can be regarded as a series of consecutive virtual tangent planes, in which the interpolating algorithm is designed with virtual wall model. Theoretical analysis proves that the multirate control algorithm can enlarge the range of virtual stiffness and improve the stability. Numerical and experimental results of a three degree-of-freedom haptic device demonstrate the effectiveness of the proposed method. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1007/978-3-540-88518-4_4 | ICIRA |
Keywords | Field | DocType |
dental training system,degree-of-freedom haptic device,interpolating algorithm,virtual wall model,multirate control algorithm,haptic dental training system,haptic rendering,virtual stiffness,consecutive virtual tangent plane,stable multirate control algorithm,complex virtual tooth surface,degree of freedom,haptic device,high frequency,stability | Control algorithm,Simulation,Training system,Stiffness,Control theory,Haptic rendering,Interpolation,Control engineering,Tangent,Engineering,Haptic technology | Conference |
Volume | ISSN | Citations |
5315 | 0302-9743 | 0 |
PageRank | References | Authors |
0.34 | 9 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xiaowei Dai | 1 | 11 | 2.40 |
| Yuru Zhang | 2 | 253 | 44.66 |
| Yonggang Cao | 3 | 131 | 6.83 |
| Dangxiao Wang | 4 | 196 | 34.02 |