Performance evaluation of haptic device via quasi-quantitative Z-width

  title={Performance evaluation of haptic device via quasi-quantitative Z-width},
  author={Jinung An and Hwang Cho and Key Seo Lee and Dong-Soo Kwon},
  journal={2007 International Conference on Control, Automation and Systems},
This paper presents the quasi-quantitative Z-width measurement method. The quasi-quantitative Z-width criterion is defined that the haptic interaction is unstable, if the frequency and amplitude of chattering go over certain level, which is a threshold for the instability. Through the literatural study, the threshold for instability was fixed 0.4 rad/sec amplitude with 30 Hz frequency, which is human's discomfort level. The measurement of the instability is achieved by measuring the velocity… CONTINUE READING