This work investigates the stability of admittance type haptic devices in the context of a wider range of impedances than previously considered. More specifically, we consider the stable range of mass and damping. The coupled human driving impedance, actuator position control bandwidth, and loop delay are identified as major factors affecting the range of stable impedances. Finally, theoretical results are experimentally verified using a custom one degree of freedom admittance type haptic device.
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Stability and Rendering Limitations of High-Performance Admittance Based Haptic Interfaces
This work investigates the stability and rendering limitations of admittance-type haptic devices. We investigated a wider range of impedances than had previously been considered, including stiffness, damping, mass, and combinations thereof. The coupled human driving impedance, actuator position control bandwidth, and loop delay are identified as major factors affecting the range of stable impedances. Finally, the theoretical results are experimentally verified using a custom one degree of freedom admittance type haptic device.
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- Award ID(s):
- 1830516
- PAR ID:
- 10353046
- Date Published:
- Journal Name:
- 2022 IEEE Haptics Symposium (HAPTICS)
- Page Range / eLocation ID:
- 1 to 8
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/HAPTICS52432.2022.9765573
