Stable boundary of virtual mass for a haptic admittance display system
نویسندگان
چکیده
This paper discusses the stable range of a 1 degree-of-freedom haptic system in admittance display. The human operator is regarded as a combination of passive impedance and active input in the system. And the virtual environment is assumed to be passive. Through analogous treatment between the haptic system and electrical network system, port theory was used to analyze the system. Considering a simple but typical virtual environment of a pure mass, the stable boundary of the virtual mass was derived. Matlab simulation proved the validity of the proposed method. The method can be applied for performance evaluation in the device design.
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