Extending the Z-Width of a Haptic Device Using Acceleration Feedback
نویسندگان
چکیده
This paper proposes a nonlinear controller to extend the Zwidth of a haptic device. A time-domain passivity analysis of the Z-width diagram leads to the new haptic controller, which employs acceleration feedback. The passivity condition for one degree of freedom (1DOF) haptic interaction with a virtual wall via the proposed controller is derived using passivity theory in the frequency domain. The perfomance of the proposed controller is validated experimentally on a PHANTOM Omni haptic device. The experiments illustrate that the new controller considerably extends the Z-witdh of the haptic interface.
منابع مشابه
Advantages of haptic feedback in virtual reality supported balance training: a pilot study
Repetitive and goal based task supported with virtual reality technology have proven successful in balance training of stroke population. However, adding a haptic experience can besides increasing the difficulty level of the task enable postural responses assessment. We demonstrated in a single subject with stroke that haptic feedback can be used not only for interaction with virtual environmen...
متن کاملEvaluation of Velocity Estimation Methods Based on their Effect on Haptic Device Performance
This paper comparatively evaluates the effect of real-time velocity estimation methods on passivity and fidelity of virtual walls implemented using haptic interfaces. Impedance width, or Z-width is a fundamental measure of performance in haptic devices. Limited accuracy of velocity estimates from position encoder data is an impediment in improving the Zwidth in haptic interfaces. We study the e...
متن کاملKinesthetic Illusion of Being Pulled Sensation Enables Haptic Navigation for Broad Social Applications
Many handheld force-feedback devices have been proposed to provide a rich experience with mobile devices. However, previously reported devices have been unable to generate both constant and translational force. They can only generate transient rotational force since they use a change in angular momentum. Here, we exploit the nonlinearity of human perception to generate both constant and transla...
متن کاملA Movement Based Method for Haptic Interaction
An abundance of haptic rendering schemes have been developed to help further presence and immersion in virtual environments. Increasing realism is the main driving force behind this development. Schemes have progressed from simple one-dimensional springs to six degree of freedom particle models, with a wealth of surface and material properties. Because of their relative unimportance, haptic ren...
متن کامل