On the enhanced passivity of pneumatically actuated impedance-type haptic interfaces

  title={On the enhanced passivity of pneumatically actuated impedance-type haptic interfaces},
  author={Xiangrong Shen and Michael Goldfarb},
  journal={IEEE Transactions on Robotics},
The stable simulation of high-stiffness surfaces remains a challenge in impedance-type haptic simulations of mechanical environments. In this paper, the authors propose an approach to achieving a stable, high-stiffness surface in a haptic interface by leveraging the open-loop properties of pneumatic actuators. By using the open-loop component of the actuator stiffness as a primary component of stiffness simulation in a haptic interface, the system requires a comparatively small component of… CONTINUE READING
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