Stable haptic interaction with virtual environments Export

@article{Adams1999, abstract = {A haptic interface is a kinesthetic link between a human operator and a virtual environment. This paper addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual world, to include both the impedance and admittance models of haptic interaction. A benchmark example exposes an important duality between these two cases. Linear circuit theory is used to develop necessary and sufficient conditions for the stability of a haptic simulation, assuming the human operator and virtual environment are passive. These equations lead to an explicit design procedure for virtual coupling networks which give maximum performance while guaranteeing stability. By decoupling the haptic display control problem from the design of virtual environments, the use of a virtual coupling network frees the developer of haptic-enabled virtual reality models from issues of mechanical stability.}, author = {Adams, R. J. and Hannaford, B.}, booktitle = {Robotics and Automation, IEEE Transactions on}, citeulike-article-id = {1679487}, doi = {10.1109/70.768179}, journal = {Robotics and Automation, IEEE Transactions on}, keywords = {absolute, admittance, bibtex-import, circuit, computergraphics, control, coupling, display, environments, feedback, force, haptic, impedance, interface, interfaces, linear, mechanical, models, network, reality, stability, theory, virtual}, number = {3}, pages = {465--474}, pdf = {Adams1999 - Stable Haptic Interaction with Virtual Environments.pdf}, posted-at = {2007-09-20 17:17:18}, priority = {0}, title = {Stable haptic interaction with virtual environments}, volume = {15}, year = {1999} }

TY - JOUR ID - Adams1999 L3 - citeulike-article-id:1679487 N2 - A haptic interface is a kinesthetic link between a human operator and a virtual environment. This paper addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual world, to include both the impedance and admittance models of haptic interaction. A benchmark example exposes an important duality between these two cases. Linear circuit theory is used to develop necessary and sufficient conditions for the stability of a haptic simulation, assuming the human operator and virtual environment are passive. These equations lead to an explicit design procedure for virtual coupling networks which give maximum performance while guaranteeing stability. By decoupling the haptic display control problem from the design of virtual environments, the use of a virtual coupling network frees the developer of haptic-enabled virtual reality models from issues of mechanical stability. IS - 3 JF - Robotics and Automation, IEEE Transactions on EP - 474 TI - Stable haptic interaction with virtual environments VL - 15 T2 - Robotics and Automation, IEEE Transactions on SP - 465 KW - absolute KW - admittance KW - bibtex-import KW - circuit KW - computergraphics KW - control KW - coupling KW - display KW - environments KW - feedback KW - force KW - haptic KW - impedance KW - interface KW - interfaces KW - linear KW - mechanical KW - models KW - network KW - reality KW - stability KW - theory KW - virtual AU - Adams, RJ AU - Hannaford, B PY - 1999/// ER -