Nick Colonnese

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Impedance-type kinesthetic haptic displays aim to render arbitrary desired dynamics to a human operator using force feedback. To render realistic virtual environments, the difference between desired and rendered dynamics must be small. In this paper, we analyze the closed-loop dynamics of haptic displays for three common virtual environments: a spring, a(More)
Impedance-type kinesthetic haptic displays aim to render arbitrary desired dynamics to a human operator using force feedback. To effectively render realistic virtual environments, the difference between desired and rendered dynamics must be small. In this paper, we analyze the closed-loop dynamics of haptic displays for three common virtual environments: a(More)
In many physical human-robot interaction scenarios, such as haptic virtual environments for training and rehabilitation, it is desirable to carefully control the apparent inertia of a robot. Inertia compensation can be used to mitigate forces felt by the user during free-space motion, and rendering of additional inertia is desired for particular(More)
Audio visualizers are programs that take in music and produce images that correspond to the music in some pleasing way. In most songs there are several different parts: the verse, chorus, a solo, and so on. Ideally, a music visualizer would change its output to match the different parts of the song. While it is quite easy for humans to detect the difference(More)
The stable, quantization-error noise-free, rendering of high-stiffness dynamics can be challenging using impedance-type haptic displays. In this paper we examine a canonical, one degree of freedom, haptic display rendering a virtual spring and damper, including the effects of the device and human dynamics, sampling, position quantization, time delay, and(More)
In this paper, we analyze the impedance transmitted to the operator in position-exchange bilateral teleoperation including the effects of master and slave dynamics, local and communication time delay, low-pass filtering of the velocity estimate, and controller stiffness and damping, for three different environment dynamics: free, clamped, and a(More)
In bilateral teleoperation, user performance, user acceptance, and transparency are functions of the control laws that govern slave tracking and master force feedback. This study investigates the effects of teleoperator stability margin and quantization error noise on performance, likeability, and realism for a palpation task. With low noise, increased(More)
Many robotic systems achieve position sensing through the use of optical encoders that specify the position of a joint to a certain resolution. Encoders effectively quantize joint space coordinates and introduce position measurement error in the process. This error propagates to operational space coordinates, limiting end-effector position and orientation(More)
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