Paper Info
Title
Enhancing rate-hardness of energy-bounding algorithm by considering Coulomb friction of haptic interface
Abstract
In haptics, both transparency and stability are major requirements for providing realistic feeling of virtual objects. The crisp contact feeling at the instant of touch with high impedance walls is necessary especially for proper identification and manipulation of virtual objects. This paper presents a new passivity condition that explicitly includes Coulomb friction effects. Moreover, the energy bounding algorithm incorporating Coulomb friction effects shows that the viscous damping of the haptic device affects the maximum displayable stiffness in steady-state and that the Coulomb friction of the device contributes to temporarily enhance rate-hardness in initial transient responses. Experimental results are presented for showing effectiveness of the proposed derivation and control law.
Year
DOI
Venue
2010
10.1109/HAPTIC.2010.5444663
HAPTICS
Keywords
Field
DocType
high impedance walls,Haptics,friction,Passivity,virtual reality,viscous damping,Stability,virtual object,passivity condition,energy-bounding algorithm,crisp contact feeling,Transparency,haptic interface,control law,coulomb friction,initial transient response,Rate-hardness,Coulomb friction,virtual objects,haptic interfaces,realistic feeling,coulomb friction effect,damping,rate-hardness enhancement,haptic device,enhancing rate-hardness,Coulomb friction effects,high impedance wall
Passivity,Energy level,Dissipation,Stiffness,Control theory,Computer science,Algorithm,Electrical impedance,High impedance,Haptic technology,Bounding overwatch
Conference
ISBN
Citations 
PageRank 
978-1-4244-6820-1
0
0.34
References 
Authors
4
4
Name
Order
Citations
PageRank
Jaeha Kim138251.63
Changhoon Seo2204.75
Jeha Ryu340554.48
Jong-Phil Kim48715.86