Enhancing the Z-width of Haptics Interfaces through Dual-rate Sampling

Abstract

Conventional controllers used in haptic devices are sampled data systems in which the position and velocity of the device is required to realize a visco-elastic virtual wall interaction. Increasing the sampling rate of the controller improves the stable range of virtual wall stiffness but simultaneously exacerbates the estimated velocity. This inefficient… (More)
DOI: 10.1145/2506095.2506154

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