Rendering stiff virtual objects remains a core challenge in the field of haptics. A study of this problem is presented, which relates the maximum achievable object stiffness to the elements of the control loop. In particular, we examine how the sampling rate, quantization, computational delay, and amplifier dynamics interact with the inertia, natural viscous, and Coulomb damping of the haptic d...

We demonstrate applications of a new actuator, the Haplug, in dynamic virtual environments. The haplug is a linear voice coil motor packaged between springs in a plug-like casing. Response and bandwidth of the haplug are optimized for haptic interactions, and tuned by the motor inertia and spring stiffness. A pair of haplugs is mounted on the hand-tracking controllers of HTC Vive and renders a ...

An approach to control a hydrostatic dynamometer for the Hardware-In-the-Loop (HIL) testing of hybrid vehicles has been developed and experimentally tested. The hydrostatic dynamometer used, which is capable of regeneration, was specifically designed and built in-house to evaluate the fuel economy and control strategy of a hydraulic hybrid vehicle. The control challenge comes from the inertia o...

Different from the conventional synchronous generator, virtual inertia and damping control parameters for inverter-based generator (VSG) provide more flexibility stable operation dynamic performance optimization. However, principle is still unclear regarding how to coordinate considering both frequency stability transient synchronization stability. In this paper, an Adaptive Inertia Damping Coo...

Virtual reality is becoming very important for training medical surgeons in various operations. Interfacing users with a virtual training environment requires the existence of a properly designed haptic device. This paper presents the design and implementation of a new force feedback haptic mechanism with five active degrees of freedom (DOFs), which is used as part of a training simulator for u...

Distributed virtual inertia is an approach of providing synthetic in small-scale modern grids dominated by converter-based generators. In this method, the inertial response synchronous machines emulated energy stored dc-link capacitors grid-tied converters. Nonetheless, it results instability interfaced converter weak grids. To overcome problem and get most benefit out acceptable capacitor volt...