Factors Affecting the Z-Width of a Haptic Display


This paper addresses the performance of force-reflecting interfaces (“haptic displays”). We suggest that an important measure of performance is the dynamic range of achievable impedances — “Z-Width” — and that an impedance is achievable if it satisfies a robustness property such as passivity. Several factors affecting ZWidth — sample-and-hold, inherent… (More)
DOI: 10.1109/ROBOT.1994.351077


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