Effects of position quantization and sampling rate on virtual-wall passivity

  title={Effects of position quantization and sampling rate on virtual-wall passivity},
  author={Jake J. Abbott and Allison M. Okamura},
  journal={IEEE Transactions on Robotics},
The "virtual wall" is the most common building block used in constructing haptic virtual environments. A virtual wall is typically based on a simple spring model, with unilateral constraints that allow the user to make and break contact with a surface. There are a number of factors (sample-and-hold, device dynamics, sensor quantization, etc.) that cause virtual walls to demonstrate active (nonpassive) behavior, destroying the illusion of reality. In this paper, we find an explicit upper bound… CONTINUE READING
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